Low-pressure-coupling ultrasound system

Abstract

Apparatus and methods including a robotic system (20) that includes one or more robotic arms (52) and an ultrasound probe supporting portion (56) that is configured to hold an ultrasound probe (42). A computer processor (28) drives the robotic system to move the ultrasound probe within an X-Y plane relative to the portion of the subject's body, while the ultrasound probe (42) acquires a set of ultrasound images of the portion of the subject's body. A counterforce mechanism (146) provides a counterforce such that, as the ultrasound probe (42) is moved relative to the portion of the subject's body the ultrasound probe (42) pushes against a surface of skin of the subject, and moves along a Z-axis, in a passive manner, to accommodate topography of the subject's skin. Other applications are also described.

Description

[0001] LOW-PRESSURE-COUPLING ULTRASOUND SYSTEM

[0002] CROSS-REFERENCES TO RELATED APPLICATIONS

[0003] The present application claim priority from U.S. Provisional Patent Application No. 63 / 668,819 to Ziso et al., filed July 9, 2024, entitled "Low-Pressure-Coupling Ultrasound System," which is incorporated herein by reference.

[0004] The present application is related to PCT Application No. PCT / IB2024 / 050134 filed January 7, 2024 (published as WO 24 / 147118), claiming priority from U.S. Provisional Patent Application No. 63 / 437,682 to Ziso, filed January 7, 2023, entitled "System for Selective Diagnosis and Treatment of Pathogenic Cells by Ultrasound Targeted Contrast Agents," which is incorporated herein by reference.

[0005] TECHNICAL FIELD

[0006] Some applications of the present disclosure generally relate to medical apparatus and methods. Specifically, some applications of the present disclosure relate to apparatus and methods for robotic ultrasound systems for diagnosis and treatment of pathogenic cells, for example, in gynecological disorders such as endometriosis.

[0007] BACKGROUND

[0008] Endometriosis is a progressive, chronic inflammatory disease, affecting about 200 million women of reproductive age worldwide. Endometriosis is caused by lesions of endometrium-like tissue that grow outside the uterus. These lesions affect surrounding tissue, with common sites of endometriosis being the female pelvis, the ovaries, and fallopian tubes. In some cases, endometriosis lesions affect, and sometimes block, the gastrointestinal tract, the abdomen and the urinary tract, including the kidneys and bladder.

[0009] Endometriosis lesions cause inflammation that in turn leads to fibrosis and adhesions. If left untreated, these lesions are active and the disease progresses, causing debilitating pain that profoundly affects a woman’s quality of life. Additionally, endometriosis is associated with female infertility with up to 30% to 50% of women with endometriosis suffering from infertility. Endometriosis can cause infertility in several ways, such as distorted anatomy of the pelvis, adhesions, scarred fallopian tubes, and / or inflammation of the pelvic structures. Diagnosis, as well as obtaining accurate information regarding the state of the disease, is challenging. This is partly due to endometriosis having a wide range and variability of symptoms. This is also due to a correlation between the size and / or location of the lesions and pain symptoms or infertility in endometriosis being poorly understood. Additionally, imaging has limited utility in the diagnosis of endometriosis, with the majority of the inflammationcausing lesions being invisible to current imaging modalities.

[0010] Ultrasound is typically inexpensive and readily available; however, it is typically userdependent requiring an experienced sonographer, and even then, the data obtained is insufficient and lacking adequate resolution to identify lesions, typically detecting only large lesions with a diameter of more than 5 mm. The detected large lesions are generally not indicative of the severeness and stage of the disease, thereby limiting ultrasound as an effective endometriosis detection and follow-up tool.

[0011] MRI imaging is generally more accurate than other available imaging techniques but considerably more expensive with limited availability. Even when using MRI, there are still gaps in information concerning borders and depth of infiltration of the endometriosis lesions. Additionally, detection is generally limited large lesions with a diameter of more than 5 mm.

[0012] Saliva and blood tests for biomarkers of endometriosis are entering the market, however while able to either confirm or rule out endometriosis, these tests do not provide information regarding the type, location or staging of the lesions. Thus, such biomarker testing provides only an initial step of screening with minimal effect on disease treatment and management.

[0013] Therefore, due to the limitations of imaging modalities in diagnosis of endometriosis, surgical methods, such as visual inspection by laparoscopy, preferably with confirmation of a biopsy, remain the prevailing option for a definitive diagnosis of endometriosis.

[0014] The difficulties and challenges in fully detecting endometriosis lesions badly affects the cycle of disease management, including late diagnosis of endometriosis and impaired surgical pre-planning leading to long and complicated surgical procedures. Additionally, difficulties and challenges in fully detecting endometriosis lesions lead to unnecessary medical tests, and drug consumption, e.g., opioids. There is therefore an ongoing need for providing non-invasive systems and techniques for accurate diagnosis and treatment of endometriosis to enable proper disease management including treatment and follow up.

[0015] SUMMARY

[0016] In accordance with some applications of the present disclosure, systems and methods are provided for performing non-invasive diagnosis, and optionally treatment, of abnormal matter, for example, abnormal tissue, pathogenic cells, benign and / or malignant tumors. More specifically, in accordance with some applications of the present disclosure, the systems and methods provided herein are particularly configured for identification and treatment of ectopic cell lesions, such as endometriosis. For some applications, the systems provided herein are configured for high-resolution differential imaging of abnormal matter (e.g., endometriosis lesions), and optionally, are also configured for targeted treatment of the abnormal matter (e.g., endometriosis lesions).

[0017] The systems and methods provided in accordance with some applications of the present disclosure are based on robot-assisted ultrasound imaging comprising robotic systems that are configured for use with ultrasound probes and are configured to control and determine the location, orientation, and height of the ultrasound probe as an imaging transducer in the probe performs scanning of a subject. In such a manner, the ultrasound scans are able to be processed into a series of high-resolution (optionally, contrast-enhanced) three-dimensional images in which the abnormal matter (e.g., endometriosis lesions) are identifiable.

[0018] Accordingly, for some applications, an apparatus for identifying abnormal matter (e.g., endometriosis lesions) within a subject’s body, is provided. The apparatus comprises a robotic system that is configured for use with one or more ultrasound probes to create images of the abnormal matter (e.g., endometriosis lesions) for identification of the abnormal matter. Imaging of the abnormal matter (e.g., endometriosis lesions) by the robotic system is optionally enhanced by ultrasound contrast agents that are administered to the subject, and that accumulate within the abnormal matter (e.g., endometriosis lesions). The robotic system typically includes one or more robotic arms and an ultrasound probe supporting portion (typically located at a distal end of the robotic arm) that is configured to hold the ultrasound probe. The apparatus additionally includes at least one computer processor. Typically, the computer processor is configured, prior to the contrast agent having been administered to the subject, to drive the robotic system to acquire a first set of ultrasound images of the subject’s pelvis and / or abdomen while moving along a first predefined path relative to a pelvis and / or abdomen of the subject, such that the location and orientation of the ultrasound probe relative to the subject’s pelvis and / or abdomen at the acquisition of each of the ultrasound images belonging to the first set of ultrasound images is known.

[0019] Subsequent to the contrast agent having been administered to the subject, the computer processor is configured to drive the robotic system to acquire a second set of ultrasound images of the subject’s pelvis and / or abdomen while moving along a second predefined path relative to the subject’s pelvis and / or abdomen, such that the location and orientation of the ultrasound probe relative to the subject’s pelvis and / or abdomen at the acquisition of each of the ultrasound images belonging to the second set of ultrasound images is known.

[0020] The computer processor is then configured to process the acquired image data to create images in which the abnormal matter (e.g., endometriosis lesions) is identified. For some applications, data analysis and processing performed by the computer processor includes subtracting images that were acquired from each location and orientation relative to the subject’s pelvis and / or abdomen within the first set of ultrasound images from the images that were acquired from the same location and orientation relative to the subject’s pelvis and / or abdomen within the second set of ultrasound images, such as to generate a set of subtraction images, each of the subtraction images corresponding to a given location and orientation of the ultrasound probe relative to the subject’s pelvis and / or abdomen. In such a manner, the abnormal matter (e.g., endometriosis lesions) is identifiable within the subtraction images.

[0021] For some applications, the robotic systems described herein are configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe (e.g., via the tray or by providing a robotic system having arms that include a double-parallelogram structure). For example, the robotic systems described herein are configured to maintain the orientation of the transducer of the ultrasound probe at a constant orientation in space such that it is substantially parallel to the tangent to the center of the subject’s abdomen and / or pelvis (or other scanned body area) as the robotic system moves the ultrasound probe (e.g., via the tray or by providing a robotic system having arms that include a double-parallelogram structure). For some applications, maintaining the transducer of the ultrasound probe substantially parallel to the tangent to the center of the subject’s abdomen and / or pelvis (or other scanned body area) as the robotic system moves the ultrasound probe facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates acquiring a large amount of useful and high-resolution imaging data within each image, because the ultrasound transducer is substantially directly facing the coronal plane of the subject’s body at the abdomen and / or pelvis (or other scanned body area).

[0022] Typically, maintaining the ultrasound probe at a constant orientation in space over the course of the procedure (or a portion thereof) facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective positions with each other such as to generate a three-dimensional image, because the orientations of the images in space with respect to each other are fixed.

[0023] Additionally, for some applications, the robotic systems described herein are configured to monitor a height of the ultrasound probe in space (e.g., by using a magnetic field sensor) as the robotic system moves the ultrasound probe vertically while scanning the subject’s abdomen and / or pelvis (or other scanned body area). For some applications, monitoring the height of the ultrasound probe in space over the course of the procedure (or a portion thereof) facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective heights with each other such as to generate a three-dimensional image, because the heights of the images in space with respect to each other are known.

[0024] For some applications, the computer processor is configured to drive the robotic systems provided herein to acquire a set of ultrasound images of a portion of the subject’s body while moving the ultrasound probe within an X-Y plane relative to the portion of the subject’s body. For some such applications, the robotic system further includes a counterforce mechanism that provides a counterforce to between 40 and 90 percent of the weight of combined weight of the ultrasound probe and the ultrasound probe supporting portion such that, as the ultrasound probe is moved within the X-Y plane relative to the portion of the subject’s body the ultrasound probe pushes against a surface of skin of the subject, and moves along a Z-axis, in a passive manner, to accommodate topography of the subject’s skin.

[0025] For some applications, the apparatus further includes an ultrasound conductive medium-filled compartment, and the robotic systems provided herein include an ultrasound probe supporting portion that is configured to hold the ultrasound probe within the ultrasound conductive medium-filled compartment, and to move the ultrasound probe together with the ultrasound conductive medium-filled compartment. For some such applications, the computer processor drives the robotic system to acquire a set of ultrasound images of a portion of the subject’s body while moving the ultrasound probe together with the ultrasound conductive medium-filled compartment relative to the portion of the subject’s body, to identify abnormal matter based upon the ultrasound images.

[0026] For some applications, the robotic systems and methods described herein are configured for diagnosis, and optionally treatment of any type of ectopic tissue. Additionally, or alternatively, the robotic systems and methods described herein are configured for diagnosis, and optionally treatment of tumors, both benign and malignant, inflammation, thrombi, kidney stones, diseased vascular tissue or any other types of pathogenic cells or lesions within a subject’s body.

[0027] There is therefore provided, in accordance with some applications of the present disclosure, apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus including: a robotic system including: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; and at least one computer processor configured to drive the robotic system to move the ultrasound probe within an X-Y plane relative to the portion of the subject’s body, while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body, the robotic system further including a counterforce mechanism that provides a counterforce to at least a portion of a combined weight of the ultrasound probe and the ultrasound probe supporting portion such that, as the ultrasound probe is moved within the X- Y plane relative to the portion of the subject’s body the ultrasound probe pushes against a surface of skin of the subject, and moves along a Z-axis, in a passive manner, to accommodate topography of the subject’s skin.

[0028] In some applications, the counterforce mechanism includes a spring.

[0029] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0030] In some applications, the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0031] In some applications, the apparatus further includes a water-filled compartment configured to be placed on the portion of the subject’s body, and a pressure of the water in the water-filled compartment is sufficient (a) to support a portion of the weight of the ultrasound probe to maintain the ultrasound probe in a hovering position over skin of the portion of the subject’s body, and (b) to dispense water from the water-filled compartment to maintain the skin of the subject wet.

[0032] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to move the ultrasound probe relative to the subject’s abdomen and / or pelvis, while the ultrasound probe acquires a set of ultrasound images of the subject’s abdomen and / or pelvis.

[0033] In some applications, the ultrasound probe includes a transducer and the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s pelvis and / or an abdomen as the robotic system moves the ultrasound probe.

[0034] In some applications, the ultrasound probe includes a transducer and the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the subject’s abdomen and / or pelvis as the robotic system moves the ultrasound probe.

[0035] In some applications, the counterforce mechanism is configured to provide a counterforce such that, as the ultrasound probe is moved within the X-Y plane relative to the portion of the subject’s body, the ultrasound probe pushes against the surface of skin of the subject with a weight of between 50 g and 2 kg.

[0036] In some applications, the counterforce mechanism is configured to provide a counterforce such that, as the ultrasound probe is moved within the X-Y plane relative to the portion of the subject’s body, the ultrasound probe pushes against the surface of skin of the subject with a weight of between 50 g and 1 kg. In some applications, the counterforce mechanism is configured to provide a counterforce to between 40 and 90 percent of the weight of the combined weight of the ultrasound probe and the ultrasound probe supporting portion.

[0037] In some applications, the counterforce mechanism is configured to provide a counterforce to between 60 and 90 percent of the weight of the combined weight of the ultrasound probe and the ultrasound probe supporting portion.

[0038] In some applications, the robotic system further includes a sensor configured to monitor a height of the ultrasound probe in space, and the computer processor is further configured to derive a height of the ultrasound probe in space at the acquisition of respective ultrasound images based on the height as monitored by the sensor.

[0039] In some applications, the sensor includes a magnetic field sensor.

[0040] In some applications, the apparatus further includes an ultrasound conductive medium- filled compartment, the computer processor is configured to drive the robotic system to move the ultrasound probe together with the ultrasound conductive medium-filled compartment within the X-Y plane relative to the portion of the subject’s body, while the ultrasound probe acquires the set of ultrasound images of the portion of the subject’s body.

[0041] In some applications, the ultrasound conductive medium-filled compartment includes a flexible compartment configured to accommodate topography of skin of the subject.

[0042] In some applications, the ultrasound conductive medium-filled compartment includes rigid walls surrounding the compartment, and a bottom surface of the compartment includes a flexible ultrasound transparent material.

[0043] In some applications, the ultrasound conductive medium-filled compartment includes a bottom surface including a flexible ultrasound transparent material.

[0044] In some applications, the ultrasound conductive medium-filled compartment includes ultrasound conductive medium selected from the group consisting of: water, acoustic gel, ultrasound cream, and oil.

[0045] In some applications, the apparatus further includes an ultrasound conductive medium- filled compartment configured to cover the portion of the subject’s body, and the ultrasound probe supporting portion is configured to move the ultrasound probe within the ultrasound conductive medium-filled compartment, while the compartment remains stationary over the portion of the subject’s body.

[0046] In some applications, the ultrasound conductive medium-filled compartment includes a bottom surface including a flexible ultrasound transparent material.

[0047] In some applications, the apparatus further includes an ultrasound conductive medium dispenser configured to dispense ultrasound conductive medium to the skin of the subject.

[0048] In some applications, the ultrasound conductive medium dispenser includes a nozzle through which the ultrasound conductive medium is dispensed to the skin of the subject.

[0049] In some applications, the ultrasound conductive medium dispenser includes ultrasound conductive medium selected from the group consisting of water, acoustic gel, ultrasound cream, and oil.

[0050] In some applications, the ultrasound conductive medium dispenser includes an acoustic gel, and the apparatus further includes a gel heating system configured to heat the acoustic gel.

[0051] In some applications, the ultrasound conductive medium dispenser is configured to dispense ultrasound conductive medium to the skin of the subject while the ultrasound probe supporting portion moves the ultrasound probe over the skin of the subject.

[0052] There is therefore provided, in accordance with some applications of the present invention, apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus including: a robotic system including: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; a sensor configured to monitor a height of the ultrasound probe in space; and at least one computer processor configured to drive the robotic system to move the ultrasound probe relative to the portion of the subject’s body while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body, and to derive a height of the ultrasound probe in space at the acquisition of respective ultrasound images based on the height as monitored by the sensor. In some applications, the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0053] In some applications, the sensor includes a magnetic field sensor.

[0054] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0055] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to move the ultrasound probe relative to the subject’s abdomen and / or pelvis, while the ultrasound probe acquires a set of ultrasound images of the subject’s abdomen and / or pelvis.

[0056] In some applications, the ultrasound probe includes a transducer and the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s pelvis and / or an abdomen as the robotic system moves the ultrasound probe.

[0057] In some applications, the ultrasound probe includes a transducer and the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the subject’s abdomen and / or pelvis as the robotic system moves the ultrasound probe.

[0058] There is further provided, in accordance with some applications of the present invention, apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus including: an ultrasound conductive medium-filled compartment; a robotic system including an ultrasound probe supporting portion that is configured to hold the ultrasound probe within the ultrasound conductive medium-filled compartment, and to move the ultrasound probe together with the ultrasound conductive medium-filled compartment; and at least one computer processor configured to drive the robotic system to move the ultrasound probe together with the ultrasound conductive medium -filled compartment relative to the portion of the subject’s body, while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body.

[0059] In some applications, the ultrasound conductive medium-filled compartment includes a flexible compartment configured to accommodate topography of skin of the subject.

[0060] In some applications, the ultrasound conductive medium-filled compartment includes rigid walls surrounding the compartment, and a bottom surface of the compartment includes a flexible ultrasound transparent material.

[0061] In some applications, the ultrasound conductive medium-filled compartment includes a bottom surface including a flexible ultrasound transparent material.

[0062] In some applications, the ultrasound conductive medium-filled compartment includes ultrasound conductive medium selected from the group consisting of: water, acoustic gel, ultrasound cream, and oil.

[0063] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0064] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to acquire a set of ultrasound images of the subject’s abdomen and / or pelvis while moving the ultrasound probe relative to the subject’s abdomen and / or pelvis.

[0065] There is further provided, in accordance with some applications of the present invention, apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus including: a robotic system including: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; an adjustable bed configured to support the subject’s body and that is operatively coupled to the one or more robotic arms; and at least one computer processor configured: to drive the robotic system to move the ultrasound probe relative to the portion of the subject’s body while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body; and to tilt the bed such that the portion of the subject’s body is in a desired orientation relative to the ultrasound probe, while the ultrasound probe is moved relative to the portion of the subject’s body.

[0066] In some applications, the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0067] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0068] In some applications, the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to acquire a set of ultrasound images of the subject’s abdomen and / or pelvis while moving the ultrasound probe relative to the subject’s abdomen and / or pelvis.

[0069] In some applications, the ultrasound probe includes a transducer and the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s pelvis and / or an abdomen as the robotic system moves the ultrasound probe.

[0070] In some applications, the ultrasound probe includes a transducer and the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the subject’s abdomen and / or pelvis as the robotic system moves the ultrasound probe.

[0071] There is further provided, in accordance with some embodiments of the present disclosure, the following examples, at least some of which are independent aspects of the present disclosure.

[0072] According to an independent aspect, the present disclosure includes Example 1 : Example 1. An apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe and a contrast agent configured to enhance the abnormal matter within ultrasound images, the apparatus comprising: a robotic system comprising: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; and at least one computer processor configured: prior to the contrast agent having been administered to the subject, to drive the robotic system to acquire a first set of ultrasound images of the portion of the subject’s body while moving along a first predefined path, such that the location and orientation of the ultrasound probe in space at the acquisition of each of the ultrasound images belonging to the first set of ultrasound images is known; subsequent to the contrast agent having been administered to the subject, to drive the robotic system to acquire a second set of ultrasound images of the portion of the subject’s body while moving along a second predefined path, such that the location and orientation of the ultrasound probe in space at the acquisition of each of the ultrasound images belonging to the second set of ultrasound images is known; to subtract images that were acquired from each location and orientation in space relative to within the first set of ultrasound images from the images that were acquired from the same location and orientation in space within the second set of ultrasound images, such as to generate a set of subtraction images, each of the subtraction images corresponding to a given location and orientation of the ultrasound probe in space; and to identify the abnormal matter within the subtraction images.

[0073] Example 2. The apparatus according to example 1, wherein the apparatus is configured for identifying abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0074] Example 3. The apparatus according to example 1, wherein the first predefined path is the same as the second predefined path. Example 4. The apparatus according to example 1, wherein the computer processor is configured to drive the ultrasound probe to apply ablative ultrasound energy to the abnormal matter while moving along one of the first and second predefined paths in response to identifying the abnormal matter.

[0075] Example 5. The apparatus according to example 1, wherein the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe along the first and second predefined paths.

[0076] Example 6. The apparatus according to example 1, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0077] Example 7. The apparatus according to example 1, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0078] Example 8. The apparatus according to any one of examples 1-7, further comprising the contrast agent.

[0079] Example 9. The apparatus according to example 8, wherein the contrast agent comprises a contrast agent selected from the group consisting of targeted contrast agents and non-targeted contrast agents.

[0080] Example 10. The apparatus according to example 8, wherein the contrast agent comprises microbubbles configured to enhance the abnormal matter within ultrasound images, and wherein the computer processor is configured to drive the ultrasound probe to apply targeted focused ultrasound to cause cavitation of tissue in the vicinity of the microbubbles.

[0081] Example 11. The apparatus according to any one of examples 1-7, wherein: the robotic system comprises a tray configured to be placed on the portion of the subject’s body, the tray defining internal channels which define the first and second predefined paths, and the ultrasound probe supporting portion is configured to hold the ultrasound probe and to move the ultrasound probe along the internal channels defined by the tray; and the at least one computer processor is configured to drive the robotic system to acquire the first and second sets of ultrasound images of the portion of the subject’s body while moving along the internal channels defined by the tray, such that the location and orientation of the ultrasound probe at the acquisition of each of the ultrasound images relative to the portion of the subject’s body is known.

[0082] Example 12. The apparatus according to example 11, wherein the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe along the channels defined by the tray.

[0083] Example 13. The apparatus according to example 11, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the ultrasound transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0084] Example 14. The apparatus according to example 11, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the ultrasound transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subj ect’ s body at the portion of the subj ect’ s body as the robotic system moves the ultrasound probe.

[0085] Example 15. The apparatus according to example 11, wherein the tray is configured to be attached to the subject, such that the tray moves with the subject.

[0086] Example 16. The apparatus according to example 11, wherein the tray is shaped to define a curved tray configured to conform to a shape of the portion of the subject’s body, such that when placed on the portion of the subject’s body the tray is coupled to skin of the subject generally without gaps between the tray and the subject’s skin.

[0087] Example 17. The apparatus according to example 11, wherein a surface of the tray that is placed on the portion of the subject’s body is made of an ultrasound transparent material.

[0088] Example 18. The apparatus according to example 11, wherein the tray is shaped to define a flat base, the flat base being configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0089] Example 19. The apparatus according to example 11, wherein the flat base of the tray is shaped to define a flat base, the flat base being configured to maintain the ultrasound probe substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0090] Example 20. The apparatus according to example 19, further comprising a water-filled compartment configured to be placed between the portion of the subject’s body and the flat base of the tray.

[0091] Example 21. The apparatus according to any one of examples 1-4, wherein the one or more robotic arms comprise a double-parallelogram structure configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0092] Example 22. The apparatus according to any one of examples 1-4, wherein the ultrasound probe includes a transducer, and wherein the one or more robotic arms comprise a doubleparallelogram structure configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s portion of the subject’s body as the robotic system moves the ultrasound probe.

[0093] Example 23. The apparatus according to any one of examples 1-4, wherein the ultrasound probe includes a transducer, and wherein the one or more robotic arms comprise a doubleparallelogram structure configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0094] According to an independent aspect, the present disclosure includes Example 24:

[0095] Example 24. A method for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe and a contrast agent configured to enhance the abnormal matter within ultrasound images, the method comprising: using a robotic system, holding the ultrasound probe by an ultrasound probe supporting portion coupled to one or more robotic arms of the robotic system; and using at least one computer processor: prior to the contrast agent having been administered to the subject, driving the robotic system to acquire a first set of ultrasound images of the s portion of the subj ect’ s body while moving along a first predefined path, such that the location and orientation of the ultrasound probe in space at the acquisition of each of the ultrasound images belonging to the first set of ultrasound images is known; subsequent to the contrast agent having been administered to the subject, driving the robotic system to acquire a second set of ultrasound images of the portion of the subject’s body while moving along a second predefined path, such that the location and orientation of the ultrasound probe in space at the acquisition of each of the ultrasound images belonging to the second set of ultrasound images is known; subtract images that were acquired from each location and orientation in space within the first set of ultrasound images from the images that were acquired from the same location and orientation in space within the second set of ultrasound images, such as to generate a set of subtraction images, each of the subtraction images corresponding to a given location and orientation of the ultrasound probe in space; and identify abnormal matter within the subtraction images.

[0096] Example 25. The method according to example 24, wherein the method for identifying abnormal matter, comprises identifying abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0097] According to an independent aspect, the present disclosure includes Example 26:

[0098] Example 26. An apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: a robotic system comprising: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; the robotic system being configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe; and at least one computer processor configured: to drive the robotic system to acquire ultrasound images of the portion of the subject’s body while moving relative to the portion of the subject’s body, such that the location and orientation of the ultrasound probe in space at the acquisition of each of the ultrasound images is known; and to identify abnormal matter based upon the ultrasound images. Example 27. The apparatus according to example 26, wherein the apparatus is configured for identifying abnormal matter, the abnormal matter selected from the group consisting of abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0099] Example 28. The apparatus according to example 26, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0100] Example 29. The apparatus according to example 26, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0101] Example 30. The apparatus according to example 26 or example 27, wherein: the robotic system comprises a tray configured to be placed on the portion of the subject’s body, the tray defining internal channels, and the ultrasound probe supporting portion is configured to hold the ultrasound probe and to move the ultrasound probe along the internal channels defined by the tray; and the at least one computer processor is configured to drive the robotic system to acquire the ultrasound images while moving along the internal channels defined by the tray, such that the location and orientation of the ultrasound probe at the acquisition of each of the ultrasound images relative to the portion of the subject’s body is known.

[0102] Example 31. The apparatus according to example 30, wherein the tray is configured to maintain the ultrasound probe at the constant orientation in space as the robotic system moves the ultrasound probe along the channels defined by the tray.

[0103] Example 32. The apparatus according to example 30, wherein the ultrasound probe includes a transducer and wherein the tray is configured to maintain an orientation of the ultrasound transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe. Example 33. The apparatus according to example 30, wherein the ultrasound probe includes a transducer and wherein the tray is configured to maintain an orientation of the ultrasound transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0104] Example 34. The apparatus according to example 30, wherein the tray is configured to be attached to the subject, such that the tray moves with the subject.

[0105] Example 35. The apparatus according to example 30, wherein the tray is shaped to define a curved tray configured to conform to a shape of the portion of the subject’s body, such that when placed on the portion of the subject’s body the tray is coupled to skin of the subject generally without gaps between the tray and the subject’s skin.

[0106] Example 36. The apparatus according to example 30, wherein a surface of the tray that is placed on the portion of the subject’s body is made of an ultrasound transparent material.

[0107] Example 37. The apparatus according to example 30, wherein the tray is shaped to define a flat base, the flat base being configured to maintain the ultrasound probe at the constant orientation in space as the robotic system moves the ultrasound probe.

[0108] Example 38. The apparatus according to example 30, wherein the ultrasound probe includes a transducer, and wherein the flat base of the tray is shaped to define a flat base, the flat base being configured to maintain an orientation of the transducer of the ultrasound probe such that the transducer is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0109] Example 39. The apparatus according to example 38, further comprising a water-filled compartment configured to be placed between the portion of the subject’s body and the flat base of the tray.

[0110] Example 40. The apparatus according to example 38, wherein the flat base is configured to maintain the orientation of the transducer of the ultrasound probe such that the transducer is substantially directly facing a coronal plane of the subj ect’ s body at the portion of the subj ect’ s body as the robotic system moves the ultrasound probe.

[0111] Example 41. The apparatus according to example 26 or example 27, wherein the apparatus is for use with a contrast agent configured to enhance the abnormal matter within ultrasound images, and wherein the computer processor is configured to: prior to the contrast agent having been administered to the subject, to drive the robotic system to acquire a first set of ultrasound images of the portion of the subject’s body by moving the ultrasound probe while maintaining the probe at the constant orientation at the acquisition of each of the ultrasound images belonging to the first set of ultrasound images; subsequent to the contrast agent having been administered to the subject, to drive the robotic system to acquire a second set of ultrasound images of the portion of the subject’s body by moving the ultrasound probe while maintaining the probe at the constant orientation at the acquisition of each of the ultrasound images belonging to the second set of ultrasound images is known; and identify the abnormal matter by analyzing the first and second sets of ultrasound images.

[0112] Example 42. The apparatus according to example 41, wherein the computer processor is configured to subtract images that were acquired within the first set of ultrasound images from the images that were acquired within the second set of ultrasound images, such as to generate a set of subtraction images, each of the subtraction images corresponding to a given location and orientation of the ultrasound probe in space.

[0113] Example 43. The apparatus according to example 41, wherein the contrast agent is selected from the group consisting of targeted contrast agents and non-targeted contrast agents.

[0114] Example 44. The apparatus according to example 41, wherein the apparatus further comprises the contrast agent.

[0115] Example 45. The apparatus according to example 41, wherein the contrast agent comprises microbubbles configured to enhance the abnormal matter within ultrasound images, and wherein the computer processor is configured to drive the ultrasound probe to apply targeted focused ultrasound to cause cavitation of tissue in the vicinity of the microbubbles.

[0116] Example 46. The apparatus according to example 26, wherein the one or more robotic arms comprise a double-parallelogram structure configured to maintain the ultrasound probe at the constant orientation in space as the robotic system moves the ultrasound probe.

[0117] Example 47. The apparatus according to example 26, wherein the ultrasound probe includes a transducer, wherein the one or more robotic arms comprise a double-parallelogram structure configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0118] Example 48. The apparatus according to example 26, wherein the ultrasound probe includes a transducer, wherein the one or more robotic arms comprise a double-parallelogram structure configured to maintain an orientation of the transducer of the ultrasound probe such that the transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0119] Example 49. The apparatus according to example 26, wherein the computer processor is further configured to drive the ultrasound probe to apply ablative ultrasound energy to the abnormal matter while moving the ultrasound probe relative to the portion of the subject’s body, at a position and orientation of the ultrasound probe that is the same as the location and orientation of the ultrasound probe at acquisitions of the ultrasound images, in response to identifying the abnormal matter.

[0120] According to an independent aspect, the present disclosure includes Example 50:

[0121] Example 50. An apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: a robotic system comprising: a tray configured to be placed on portion of the subj ect’ s body, the tray defining internal channels; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe and to move along the internal channels defined by the tray; and at least one computer processor configured: to drive the robotic system to acquire ultrasound images of the portion of the subject’s body while moving along the internal channels defined by the tray, such that the location and orientation of the ultrasound probe at the acquisition of each of the ultrasound images relative to the portion of the subject’s body is known; and to identify abnormal matter based upon the ultrasound images.

[0122] Example 51. The apparatus according to example 50, wherein the apparatus is configured for identifying abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0123] Example 52. The apparatus according to example 50, wherein the tray is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe along the channels defined by the tray.

[0124] Example 53. The apparatus according to example 50, wherein the ultrasound probe includes a transducer and wherein the tray is configured to maintain an orientation of an ultrasound transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0125] Example 54. The apparatus according to example 50, wherein the tray is configured to be attached to the subject, such that the tray moves with the subject.

[0126] Example 55. The apparatus according to example 50, wherein the tray is shaped to define a curved tray configured to conform to a shape of the portion of the subject’s body, such that when placed on the portion of the subject’s body the tray is coupled to the skin of the subject generally without gaps between the tray and the subject.

[0127] Example 56. The apparatus according to example 50, wherein a surface of the tray that is placed on the portion of the subject’s body is made of an ultrasound transparent material.

[0128] Example 57. The apparatus according to example 50, wherein the tray is shaped to define a flat base, the flat base being configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0129] Example 58. The apparatus according to example 50, wherein the computer processor is further configured to drive the ultrasound probe to apply ablative ultrasound energy to the abnormal matter while moving along the internal channels defined by the tray in response to identifying the abnormal matter.

[0130] Example 59. The apparatus according to example 50, wherein the internal channels are separated from each other by at least one wall defining a groove, and wherein the ultrasound probe is configured to move along the internal channels by one or more protrusions on the ultrasound probe sliding along the groove in the wall.

[0131] Example 60. The apparatus according to any one of examples 50-59, wherein the tray is shaped to define a flat base configured to maintain the ultrasound probe substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0132] Example 61. The apparatus according to example 60, further comprising a water-filled compartment configured to be placed between the portion of the subject’s body and the flat base of the tray.

[0133] Example 62. The apparatus according to any one of examples 50-59, wherein the apparatus is for use with a contrast agent configured to enhance the abnormal matter within ultrasound images, the contrast agent selected from the group consisting of: targeted contrast agents and non-targeted contrast agents.

[0134] Example 63. The apparatus according to example 62, wherein the apparatus further comprises the contrast agent.

[0135] Example 64. The apparatus according to example 62, wherein the contrast agent comprises microbubbles configured to enhance the abnormal matter within ultrasound images, and wherein the computer processor is configured to drive the ultrasound probe to apply targeted focused ultrasound to cause cavitation of tissue in the vicinity of the microbubbles.

[0136] According to an independent aspect, the present disclosure includes Example 65:

[0137] Example 65. An apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: a robotic system comprising: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; and at least one computer processor configured: to drive the robotic system to acquire ultrasound images of the portion of the subject’s body while moving the ultrasound probe relative to the portion of the subject’s body, and while maintaining the ultrasound probe in a hovering position over skin of the portion of the subject’s body; and to identify abnormal matter based upon the ultrasound images.

[0138] Example 66. The apparatus according to example 65, wherein the apparatus is configured for identifying abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

[0139] Example 67. The apparatus according to example 65, wherein the computer processor is configured to avoid movement and deformation of the skin and underlying body structures undergoing scanning by the ultrasound probe by maintaining the ultrasound probe in the hovering position over skin of the portion of the subject’s body.

[0140] Example 68. The apparatus according to example 65, further comprising a sensor configured to monitor a distance between the ultrasound probe and the skin, wherein the computer processor is configured to maintain the ultrasound probe in the hovering position over skin of the portion of the subject’s body based upon the distance between the ultrasound probe and the skin as monitored by the sensor.

[0141] Example 69. The apparatus according to example 65, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0142] Example 70. The apparatus according to example 65, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0143] Example 71. The apparatus according to example 65, wherein the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0144] Example 72. The apparatus according to any one of examples 65-68, wherein: the robotic system comprises a tray configured to be placed on the portion of the subject’s body, the tray defining internal channels, and the ultrasound probe supporting portion is configured to hold the ultrasound probe and to move the ultrasound probe along the internal channels defined by the tray; and the at least one computer processor is configured to drive the robotic system to acquire the ultrasound images while moving along the internal channels defined by the tray, such that the location and orientation of the ultrasound probe at the acquisition of each of the ultrasound images relative to the portion of the subject’s body is known.

[0145] Example 73. The apparatus according to example 72, wherein the tray is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe along the channels defined by the tray.

[0146] Example 74. The apparatus according to example 72, wherein the ultrasound probe includes a transducer and wherein the tray is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0147] Example 75. The apparatus according to example 72, wherein the ultrasound probe includes a transducer and wherein the tray is configured to maintain an orientation of the ultrasound transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0148] Example 76. The apparatus according to example 72, wherein the tray is configured to be attached to the subject, such that the tray moves with the subject.

[0149] Example 77. The apparatus according to example 72, wherein the tray is shaped to define a curved tray configured to conform to a shape of the portion of the subject’s body, such that when placed on the portion of the subject’s body the tray is coupled to skin of the subject generally without gaps between the tray and the subject’s skin.

[0150] Example 78. The apparatus according to example 72, wherein a surface of the tray that is placed on the portion of the subject’s body is made of an ultrasound transparent material.

[0151] Example 79. The apparatus according to example 72, wherein the tray is shaped to define a flat base, the flat base being configured to maintain the ultrasound probe at the constant orientation in space as the robotic system moves the ultrasound probe.

[0152] Example 80. The apparatus according to example 72, wherein the ultrasound probe includes a transducer, and wherein the flat base of the tray is shaped to define a flat base, the flat base being configured to maintain an orientation of the transducer of the ultrasound probe such that the transducer is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe. Example 81. The apparatus according to example 80, further comprising a water-filled compartment configured to be placed between the portion of the subject’s body and the flat base of the tray.

[0153] Example 82. The apparatus according to example 80, wherein the flat base is configured to maintain an orientation of the transducer of the ultrasound probe such that the transducer is substantially directly facing a coronal plane of the subj ect’ s body at the portion of the subj ect’ s body as the robotic system moves the ultrasound probe.

[0154] Example 83. The apparatus according to any one of examples 65-71, wherein the apparatus is for use with a contrast agent configured to enhance the abnormal matter within ultrasound images, and wherein the computer processor is configured to: prior to the contrast agent having been administered to the subject, to drive the robotic system to acquire a first set of ultrasound images of the portion of the subject’s body while moving the ultrasound probe; subsequent to the contrast agent having been administered to the subject, to drive the robotic system to acquire a second set of ultrasound images of the portion of the subject’s body while moving the ultrasound probe; and identify the abnormal matter by analyzing the first and second sets of ultrasound images.

[0155] Example 84. The apparatus according to example 83, wherein the contrast agent is selected from the group consisting of: targeted contrast agents and non-targeted contrast agents.

[0156] Example 85. The apparatus according to example 83, wherein the apparatus further comprises the contrast agent.

[0157] Example 86. The apparatus according to example 83, wherein the contrast agent comprises microbubbles configured to enhance the abnormal matter within ultrasound images, and wherein the computer processor is configured to drive the ultrasound probe to apply targeted focused ultrasound to cause cavitation of tissue in the vicinity of the microbubbles.

[0158] Example 87. The apparatus according to example 83, wherein, by avoiding movement and deformation of the skin and underlying body structures undergoing scanning by the probe, the computer processor is configured to minimize changes in position and shape of the skin and underlying body structures between the acquisitions of the first and second sets of ultrasound images of the portion of the subject’s body. Example 88. The apparatus according to example 83, wherein the computer processor is configured to subtract images that were acquired within the first set of ultrasound images from the images that were acquired within the second set of ultrasound images, such as to generate a set of subtraction images, each of the subtraction images corresponding to a given location and orientation of the ultrasound probe in space.

[0159] Example 89. The apparatus according to example 88, wherein, by avoiding movement and deformation of the skin and underlying body structures undergoing scanning by the probe, the computer processor is configured to minimize changes in position and shape of the skin and underlying body structures between the acquisitions of the first and second sets of ultrasound images of the portion of the subject’s body, to thereby enhance accuracy of the subtraction images.

[0160] Example 90. The apparatus according to any one of examples 65-68, wherein the one or more robotic arms comprise a double-parallelogram structure configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

[0161] Example 91. The apparatus according to any one of examples 65-68, wherein the ultrasound probe includes a transducer, wherein the one or more robotic arms comprise a doubleparallelogram structure configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0162] Example 92. The apparatus according to any one of examples 65-68, wherein the ultrasound probe includes a transducer, wherein the one or more robotic arms comprise a doubleparallelogram structure configured to maintain an orientation of the transducer of the ultrasound probe such that the transducer is substantially directly facing a coronal plane of the subject’s body at the portion of the subject’s body as the robotic system moves the ultrasound probe.

[0163] Example 93. The apparatus according to any one of examples 65-71, wherein the computer processor is further configured to drive the ultrasound probe to apply ablative ultrasound energy to the abnormal matter while moving the ultrasound probe relative to the portion of the subject’s body, at a position and orientation of the ultrasound probe that is the same as the location and orientation of the ultrasound probe at acquisitions of the ultrasound images, in response to identifying the abnormal matter. Example 94. The apparatus according to any one of examples 65-71, further comprising an ultrasound conductive medium-filled compartment configured to cover the portion of the subject’s body, and wherein the ultrasound probe supporting portion is configured to move the ultrasound probe within the ultrasound conductive medium-filled compartment, while the compartment remains stationary over the portion of the subject’s body.

[0164] Example 95. The apparatus according to example 94, wherein the bottom surface of the ultrasound conductive medium-filled compartment comprises a flexible ultrasound transparent material.

[0165] Example 96. The apparatus according to any one of examples 65-71, further comprising an ultrasound conductive medium dispenser configured to dispense ultrasound conductive medium to the skin of the subject.

[0166] Example 97. The apparatus according to example 96, wherein the ultrasound conductive medium dispenser comprises a nozzle through which the ultrasound conductive medium is dispensed to the skin of the subject.

[0167] Example 98. The apparatus according to example 96, wherein the ultrasound conductive medium dispenser comprises ultrasound conductive medium selected from the group consisting of: water, acoustic gel, ultrasound cream, and oil.

[0168] Example 99. The apparatus according to example 96, wherein the ultrasound conductive medium dispenser comprises an acoustic gel, and wherein the apparatus further comprises a gel heating system configured to heat the acoustic gel.

[0169] Example 100. The apparatus according to example 96, wherein the ultrasound conductive medium dispenser is configured to dispense ultrasound conductive medium to the skin of the subject while the ultrasound probe supporting portion moves the ultrasound probe over the skin of the subject.

[0170] Example 101. The apparatus according to any one of examples 65-71, further comprising a water-filled compartment configured to be placed on the portion of the subject’s body, and wherein a pressure of the water in the water-filled compartment is sufficient (a) to support a weight of the ultrasound probe to maintain the ultrasound probe in a hovering position over skin of the portion of the subject’s body, and (b) to dispense water from the water-filled compartment to maintain the skin of the subject wet. The present disclosure will be more fully understood from the following detailed description of embodiments thereof, taken together with the drawings, in which:

[0171] BRIEF DESCRIPTION OF THE DRAWINGS

[0172] Fig. 1 A is a block diagram showing components of a robotic system that is configured for use for identifying abnormal matter within a subject’s body, in accordance with some applications of the present disclosure;

[0173] Fig. IB is a flowchart showing steps of methods that are performed, in accordance with some applications of the present disclosure;

[0174] Fig. 2 is a schematic illustration of an apparatus comprising a robotic system configured for use for identifying abnormal matter within a subj ect’ s body, in accordance with some applications of the present disclosure;

[0175] Figs. 3A and 3B are schematic illustrations of components of a robotic system configured for use for identifying abnormal matter within a subj ect’ s body, in accordance with some applications of the present disclosure;

[0176] Fig. 3C is a schematic illustration of components of a robotic system comprising a height sensor, the robotic system configured for use for identifying abnormal matter within a subject’s body, in accordance with some applications of the present disclosure;

[0177] Figs. 4A and 4B are schematic illustrations of components of a robotic system configured for use for identifying abnormal matter within a subj ect’ s body, in accordance with some applications of the present disclosure;

[0178] Figs. 5A and 5B are schematic illustrations of components of a robotic system configured for use for identifying abnormal matter within a subject’s body, in accordance with some applications of the present disclosure;

[0179] Figs. 6A and 6B are schematic illustrations of components of a robotic system configured for use for identifying abnormal matter within a subj ect’ s body, in accordance with some applications of the present disclosure;

[0180] Fig. 7 is a schematic illustration of components of a robotic system configured for use for identifying abnormal matter within a subj ect’ s body, in accordance with some applications of the present disclosure; Figs. 8A and 8B are schematic illustrations of components of a robotic system configured for use identifying abnormal matter within a subject’s body, in accordance with additional applications of the present disclosure;

[0181] Figs. 9A and 9B are schematic illustrations of components of a robotic system configured for use for identifying abnormal matter within a subj ect’ s body, in accordance with additional applications of the present disclosure;

[0182] Fig. 10 is a schematic illustration of components of a robotic system configured for use identifying abnormal matter within a subject’s body, in accordance with additional applications of the present disclosure;

[0183] Figs. 11 A, 1 IB, 11C, 1 ID, 1 IE and 1 IF are schematic illustrations of components of a robotic system of Fig. 10 being used with an adjustable bed, in accordance with some applications of the present disclosure;

[0184] Fig. 12 is a schematic illustration of an apparatus comprising a robotic system for identifying abnormal matter within a subject’s body, configured for use with an ultrasound conductive medium-filled compartment (e.g., a water-filled compartment), in accordance with some applications of the present disclosure;

[0185] Fig. 13 A is schematic illustration of an apparatus comprising a robotic system for identifying abnormal matter within a subject’s body, configured for use with an ultrasound conductive medium-filled compartment (e.g., a water-filled compartment), in accordance with additional applications of the present disclosure;

[0186] Fig. 13B is schematic illustration of an additional view of the robotic system of Fig. 13 A, in accordance with some applications of the present disclosure;

[0187] Fig. 14 is a schematic illustration of an apparatus comprising a robotic system for identifying abnormal matter within a subject’s body, configured for use with an ultrasound conductive medium-filled compartment, in accordance with additional applications of the present disclosure;

[0188] Fig. 15 is a schematic illustration of an ultrasound probe configured for use with a robotic system for identifying abnormal matter within a subject’s body, the ultrasound probe configured for use with an ultrasound conductive medium-filled bladder, in accordance with additional applications of the present disclosure; Fig. 16 is a schematic illustration indicating an ultrasound probe configured for use with a robotic system for identifying abnormal matter within a subject’s body, the ultrasound probe configured for use with a device configured to maintain optimal coupling between skin of the subject and the ultrasound probe, in accordance with additional applications of the present disclosure;

[0189] Fig. 17A is a schematic illustration of an apparatus comprising a robotic system for identifying abnormal matter within a subj ecf s body, and configured for use with an abdominal ultrasound probe and an intraluminal ultrasound probe, in accordance with some applications of the present disclosure;

[0190] Fig. 17B is a schematic illustration of the apparatus of Fig. 17A being used to scan a subject in accordance with some applications of the present disclosure;

[0191] Figs. 18A and 18B are schematic illustrations of an apparatus configured for use with an ultrasound probe and comprising a robotic system for identifying abnormal matter within a subject’s body, the apparatus structured to maintain the ultrasound probe at a constat orientation in space as the robotic system moves the ultrasound probe, in accordance with some applications of the present disclosure; and

[0192] Fig. 19 is a table showing experimental results of experiments performed by the inventors in accordance with some applications of the present disclosure and using the apparatus, robotic systems and techniques described herein.

[0193] DETAILED DESCRIPTION OF EMBODIMENTS

[0194] In accordance with some applications of the present disclosure, systems and methods are provided for performing non-invasive diagnosis and optionally treatment of abnormal matter, e.g., abnormal tissue, pathogenic and abnormal cells, for example, benign and / or malignant tumors inflamed tissue, thrombus, kidney stones, diseased vascular tissue. Additionally, or alternatively, some applications of the present disclosure, systems and methods are provided for performing non-invasive imaging of healthy tissue and / or general gynecological imaging, and / or for tracking a pregnancy and / or detecting embryonic defects. Further additionally, or alternatively, the scope of the present disclosure includes use of techniques and systems described herein for imaging of Fallopian tubes (e.g., for assisting in optimal scheduling of IVF and other fertility treatments). More specifically, in accordance with some applications of the present disclosure, the systems and methods provided herein are configured for identification and treatment of ectopic cell lesions, including, but not limited to, endometriosis. For some applications, the system comprises an ultrasound system configured for high resolution selective imaging of abnormal matter (e.g., endometriosis lesions), and optionally also configured for targeted treatment of the abnormal matter (e.g., endometriosis lesions).

[0195] Typically, the ultrasound system comprises a robotic ultrasound system. In an imaging mode the ultrasound system is configured to detect the presence of abnormal matter (e.g., endometriosis lesions), and in a therapeutic mode the ultrasound system is configured to apply treatment energy at the detected abnormal matter for performing a therapeutic procedure, such as ablation. For some applications, the ultrasound system comprises an ultrasound probe configured to alternate between an imaging mode and a treatment mode. Alternatively, the ultrasound system comprises separate probes for imaging and treatment. Typically, the ultrasound probes are operated and controlled by a robotic system as will be described in further detail.

[0196] In accordance with some applications of the present disclosure, the robotic ultrasound system is configured for comprehensive managing of endometriosis, including: (a) detection and early differential diagnosis of endometriosis; (b) personalized treatment planning based on the imaging; (c) monitoring the effectiveness of the treatment by regular follow-up scans of the endometriosis lesions; and (d) optionally, the system is also configured to apply treatment for treating the lesions.

[0197] Imaging and Diagnosis

[0198] The robotic imaging ultrasound system provided in accordance with some applications of the present disclosure, is configured to detect the presence of abnormal matter, e.g., endometriosis lesions, to obtain a definitive diagnosis of endometriosis.

[0199] Additionally, the system can be used for pre-operative imaging to detect, map and / or confirm the presence, size and location of lesion tissue, before the execution of any treatment procedures such as ablative procedures, or other surgical procedures. Pre-operative imaging typically contributes to performing safer and more effective treatment procedures, by typically reducing the duration of the surgical procedures and by increasing selectivity of the procedure thereby avoiding damage of healthy tissue adjacent to the abnormal matter. For some applications, the imaging system combines robotic-assisted ultrasound imaging with the use of ultrasound contrast agents. The robot-assisted ultrasound system is configured to detect abnormal matter (e.g., endometriosis lesions) by creating an image series (for example, in a manner similar to techniques used in CT and MRI imaging) by processing the image data to create high-resolution three-dimensional reconstruction of the contrast- enhanced ultrasound images.

[0200] More specifically, for some applications, the ultrasound imaging is performed prior to, and again subsequently to, injection of targeted and / or non-targeted ultrasound contrast agents that accumulate within the abnormal matter (e.g., the endometriosis lesions), such that identification of the abnormal matter is enhanced by the contrast agents. Use of contrast agents typically facilitates detection of superficial lesions that are generally not detectable by using standard available imaging techniques. Additionally, use of the contrast agents improves detection and assessment of deep lesions. For some applications, use of the contrast agents alone does not enable optimal detection of the abnormal matter (e.g., endometriosis lesions) using standard available imaging techniques. Thus, in accordance with some applications of the present disclosure, the use of ultrasound contrast agents is combined with a robotic system, e.g., comprising a robotic arm, that is coupled to an existing ultrasound imaging transducer / probe for scanning the area of concern (e.g., scanning the pelvis and / or abdomen of a subject using an external ultrasound transducer) before and after administration of the contrast agent.

[0201] Typically, the robotic ultrasound system includes one or more computer processors that process the scanned data that is streamed to the computer processor. The data is processed by the computer processor into a series of three-dimensional images (e.g., three-dimensional DICOM images), similar to images obtained by MRI or CT scans. Then, enhanced identification of abnormal matter is performed by further processing. For some applications, processing of the scanned data is based on subtraction of the data acquired before and after administration of the contrast agents to eliminate the background of healthy tissue.

[0202] Alternatively, or additionally, the data analysis and processing performed by the computer processor includes analyzing the first and second sets of ultrasound images using artificial-intelligence algorithms, e.g., for segmentation of internal organs for detection of the abnormal matter (e.g., endometriosis lesions) within the images, and segmentation of the contrast-enhanced abnormal matter (e.g., endometriosis lesions) and facilitating their identification. For some applications, the computer processor runs an algorithm that has been pre-trained to identify abnormal matter (e.g., endometriosis lesions). For example, the computer processor may run an algorithm that has pre-trained using machine-learning techniques, for example, a guided machine-learning algorithm, such as a convolutional neural network algorithm, using images of subjects’ pelvises and / or abdomens acquired before and after the administration of contrast agent. For some applications, based on the pre-training, the computer processor is configured to identify abnormal matter (e.g., endometriosis lesions) based only on ultrasound images that are acquired in the absence of contrast agent (such that use of contrast agents is not required, and the robotic systems described herein are configured to detect endometriosis and other lesions without the use of contrast agents).

[0203] Identification of the abnormal matter (e.g., endometriosis lesions) includes, for example, determining accurate volume measurements of the lesions and complete mapping of the abnormal matter (such that a health professional can determine the stage of the disease, and an appropriate treatment plan).

[0204] In accordance with some applications of the present invention, the robotic imaging system provided herein allows for precise identification of abnormal matter by various scanning techniques. A non-limiting example of such scanning techniques may include initial and advanced scanning. For example, during the initial scan the user (e.g., a medical technician) flags an area suspected of having abnormal matter, and in a subsequent scan the user performs an advanced, in-depth scanning at the flagged location.

[0205] For some applications, the robotic imaging ultrasound system provided in accordance with some applications of the present disclosure, enables multimodality imaging such as B- mode scanning, elastography, and / or Doppler.

[0206] Reference is now made to Fig. 1 A, which is a block diagram showing components of an ultrasound robotic system 20 that is configured for use in an imaging procedure for imaging abnormal matter, for example, imaging of endometriosis lesions in subject 10 (subject 10 is shown in Fig. 2), in accordance with some applications of the present disclosure.

[0207] Typically, when used for imaging, robotic system 20 is configured for use with an ultrasound probe 22 of ultrasound imaging system 30 configured to scan the patient. Robotic system 20 comprises one or more robotic arms 24 that hold ultrasound probe 22 (either directly or via an ultrasound probe supporting portion) and is configured to be moved by motor system 27 to move ultrasound probe 22 with respect to the subject. For some applications, motor system 27 that moves robotic arm 24 comprises XYZ motors 21, 23, 25, respectively, that provide three degrees-of-freedom. For some applications, the robotic system additionally includes motors that are configured to provide angular rotations, e.g., motors 152 (shown in Figs. 4A-4B, for example), e.g., roll, pitch and / or yaw angular rotations. Typically, these motors are configured to provide angular rotations that are such as to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe, as described in further detail hereinbelow. For some such applications, the motors are configured to provide six degrees-of-freedom. Motors 21, 23 and 25, and any additional motors, are collectively referred to as motor system 27. Typically, there is an encoder, e.g., a rotary encoder, or a different sensor, associated with the degree-of-freedom controlled by each of the motors, such that the position of the robotic arm can be determined.

[0208] Typically, when performing scanning in multiple rows over a body portion of the subject, the robotic systems provided herein are configured to provide 3D angular rotational freedom of the ultrasound probe, while still maintaining the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe within a given row. In some applications, the orientation of the probe is adjusted between scanning respective rows, in order for the probe to be at an optimal orientation for scanning each row. Nevertheless, even in such applications, the probe is typically kept at a constant orientation within a given row. Typically, the data from the multiple scanning rows are combined and processed.

[0209] In addition, robotic system 20 comprises a controller 26 and at least one computer processor 28 (controller 26 may be part of computer processor 28), via which components of the robotic and ultrasound imaging systems and a user (e.g., a healthcare professional) operatively interact with each other. Typically, controller 26 is able to control and activate motor system 27. In turn, controller 26 reads the location and orientation (e.g., via rotary encoder data) of each one of motors 21, 23 and 25 that drive the ultrasound probe and outputs the information to a computer processor 28. Additionally, computer processor 28 receives scanned data from ultrasound imaging system 30. Based on the location information of the ultrasound probe and the scanned data, the computer processor performs data analysis and processing of the images to create three-dimensional high-resolution images for identifying abnormal matter (e.g., endometriosis lesions) within the images. For some applications, ultrasound robotic system 20 comprises a streamer configured to receive the scanned data from ultrasound imaging system 30 and stream the data to the computer processor (e.g., in real time). For some applications, robotic imaging system 20 comprises a user interface via which a user interacts with components of robotic system 20 (e.g., the user interface comprises a display 32, shown in Fig. 2).

[0210] Reference is still made to Fig. 1 A. As described hereinabove, in accordance with some applications of the present disclosure, ultrasound contrast agents are used to enhance abnormal matter (e.g., endometriosis lesions) within the images produced by robotic ultrasound system 20. Typically, administering of the ultrasound contrast agents is carried out between acquiring two sets of images, for processing the two sets of images to produce a contrast-enhanced image of the abnormal matter (e.g., endometriosis lesions).

[0211] Typically, prior to the contrast agent having been administered to the subject, computer processor 28 (or controller 26, which is typically a component of computer processor 28) drives robotic system 20 to acquire a first set of ultrasound images of the subject’s pelvis and / or abdomen while moving along a first predefined path relative to the pelvis and / or abdomen of the subject, such that the location and orientation of the ultrasound probe relative to the subject’s pelvis and / or abdomen at the acquisition of each of the ultrasound images belonging to the first set of ultrasound images is known.

[0212] Subsequent to acquiring the first set of ultrasound images, contrast agents are administered to the subject. Subsequent to the contrast agent having been administered to the subject, computer processor 28 drives the robotic system to acquire a second set of ultrasound images of the subject’s pelvis and / or abdomen while moving along a second predefined path relative to the subject’s pelvis and / or abdomen, such that the location and orientation of the ultrasound probe relative to the subject’s pelvis and / or abdomen at the acquisition of each of the ultrasound images belonging to the second set of ultrasound images is known. Typically, the first and second predefined paths are the same, such that the post contrast agent scanning is performed at the same location and orientation as the pre contrast agent scanning. Additionally, robotic system 20 maintains the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe along the same first and second predefined paths.

[0213] Computer processor 28 is configured to process the data of the first and second sets of images to produce contrast-enhanced images of the abnormal matter (e.g., endometriosis lesions). For some applications, computer processor 28 is configured to process the data to subtract images that were acquired from each location and orientation relative to the subject’s pelvis and / or abdomen within the first set of ultrasound images from the images that were acquired from the same location and orientation relative to the subject’s pelvis and / or abdomen within the second set of ultrasound images, such as to generate a set of subtraction images, each of the subtraction images corresponding to a given location and orientation of the ultrasound probe relative to the subject’s pelvis and / or abdomen, and to identify abnormal matter (e.g., endometriosis lesions) within the subtraction images. Typically, by having the post contrast agent scanning performed at the same exact location and orientation as the pre contrast agent scanning, small lesions (e.g., lesions having a diameter of 1 mm), are identified within the subtraction images.

[0214] For some applications, the computer processor identifies abnormal matter (e.g., endometriosis lesions) by analyzing the first and second sets of ultrasound images but without generating subtraction images from the first and second sets of ultrasound images. Additionally, or alternatively, computer processor 28 is configured to process the data by using an Artificial Intelligence (Al) algorithm, or by additional processing techniques as will be described hereinbelow.

[0215] Artificial intelligence algorithms and models are used in accordance with some applications of the present disclosure, in both data acquisition and processing of the acquired data. For example, during data acquisition, scanning is optimized by using artificial intelligence algorithms and models such that computer processor 28 is configured to change scanning parameters during imaging of the tissue and to optimize scanning parameters in the control console 29. For example, computer processor 28 is configured to change the velocity of ultrasound probe 22, e.g., by slowing the scanning of the probe at areas of interest and switching to faster scanning in non-relevant areas. Additionally, or alternatively, the weight applied by probe 22 to press the skin is varied. Additionally, or alternatively, the scanning angle is optimized in response to artificial intelligence based image quality analysis.

[0216] Additionally, or alternatively, in some applications, processing of the acquired data is performed using artificial intelligence algorithms and models. For example an artificial intelligence model is trained to identify the abnormal matter, as described herein. For some applications, the data are processed using an artificial intelligence and / or machine-learning algorithm, such as a neural network (e.g., a convolutional neural network), a Linear Regression, Logistic Regression, Decision Tree, Support Vector Machine, Naive Bayes, kNN, K-Means, Random Forest, Dimensionality Reduction Algorithms, and / or Gradient Boosting algorithm. Typically, during a machine-learning stage, the algorithm is trained to recognize patterns in the received data and to correlate such patterns with abnormal matter (e.g., endometriosis lesions). For some applications, the computer processor builds a database of correlations between the received data and types of abnormal matter (e.g., endometriosis lesions). Subsequently, when steps of identifying abnormal matter (e.g., endometriosis lesions) are being performed with respect to a given subject, the algorithm applies the learned patterns to the analysis of the subject's data.

[0217] Reference is now made to Fig. IB, which is a flowchart showing steps of imaging and diagnosis of abnormal matter, e.g., endometriosis lesions, that are performed using the robotic ultrasound system, in accordance with some applications of the present disclosure.

[0218] For some applications, in step 100 (typically following setup of the robotic system, software upload and ultrasound image calibration), initial pre-contrast agent injection scanning is performed by robotically moving the ultrasound transducer over a region of interest (e.g., the pelvis and abdomen of the subject). In step 102 the acquired scanned data is streamed to a computer processor of the robotic-assisted ultrasound system. Subsequently, in step 104, ultrasound contrast agents are injected (e.g., intravenously, locally, and / or in an abdominal / intra-uterine manner) and are allowed to accumulate in the target tissue of the endometriosis tissue. In step 106 post-contrast agent injection scanning is performed by robotically moving the ultrasound transducer over the region of interest. For some applications, ultrasound scanning is performed at a pulse inversion scanning mode for better contrast enhancement. The scanned data is streamed to the computer processor (step 108). In step 110 data analysis is performed by the computer processor resulting in identification and mapping of the abnormal matter.

[0219] In accordance with some applications of the present disclosure, the data analysis step 110 can include one or more of the following steps:

[0220] 1) Data analysis by converting video format data from the ultrasound scanning to 3D DICOM images based on robotic arm location and assembling images from the same plan (typically, for obtaining images with a resolution of 10 microns which is generally up to 100 times higher than the resolution of standard ultrasound imaging).

[0221] 2) Subtraction of images pre- and post- contrast enhancement by the contrast agents, to emphasize abnormal matter echogenicity and remove background tissue. 3) Automatic segmentation of internal organs for identification of abnormal matter within the imaged organs, and automatic segmentation of the abnormal matter according to its echogenicity. Display to a user (e.g., operator of the system), and training an Al for deep learning to identify the abnormal matter (e.g., endometriosis lesions), or manual delineation of the abnormal matter on the images.

[0222] 4) Analysis tools such as distance measurements and volumes.

[0223] For some applications, performing of the scanning and / or processing and analysis of the scanned data includes any one of, or a combination of, the following procedures:

[0224] • Scanning multiple times and selecting the data with least artifacts, to be combined to one volume of data.

[0225] • In the case of identifying artifacts or poor image quality in real time, using automated control (e.g., artificial-intelligence driven control) to overcome such issues, e.g. by rotating the ultrasound probe or changing the speed of scanning (e.g., moving the probe more slowly).

[0226] • Motion and / or deformation correction. Typically, accounting for motion (e.g., by implementing motion correction algorithms) is enabled due to high redundancy and overlap of data, and additionally due to the high resolution of the images. Additionally, or alternatively, in order to reduce motion that would require correcting, the robotic systems described herein are coupled (e.g., fixed) to the subject being examined (rather than to a bed or examination chair on which the subject is positioned).

[0227] • Synchronization of the scanning with the heart rate and breathing rate of the subject.

[0228] • Initially, fast acquisition of image data, followed by identification by artificialintelligence algorithms of area suspected to be abnormal matter (e.g., endometriosis lesions), followed by slowing the acquisition of image data and taking steps to acquire data of better quality and increased quantity (e.g., by slowing scanning and / or changing the orientation of the ultrasound probe).

[0229] • Scanning in several frequencies and combining the data into a single volume. For example, scanning at a relatively high frequency results in a higher image resolution but imagining at less depth of the scanned area, and vice versa. For some applications of the present disclosure, artificial-intelligence (Al) algorithms are used to train the system to produce high resolution images from lower resolution images.

[0230] • Segmentation of internal organs and using artificial-intelligence algorithms to search and identify abnormal matter (e.g., endometriosis lesions) within the segmented images.

[0231] • Performing the ultrasound scanning at a pulse inversion scanning mode for better contrast enhancement.

[0232] • Performing the ultrasound scanning by moving the ultrasound probe at a velocity of 0.25-10 mm / sec.

[0233] • Using a transmitting ultrasound probe and a receiving ultrasound probe. For example, one of the probes may be an intraluminal probe (e.g., a vaginal probe or a rectal probe) and the other an abdominal probe. Or a probe positioned on the lower back of a subject while the second probe is placed on the abdomen.

[0234] • Using an external abdominal ultrasound probe and an intraluminal ultrasound probe (e.g., a vaginal ultrasound probe), and combining data from both ultrasound probes to one volumetric data.

[0235] Treatment and Intraoperative real-time detection

[0236] In accordance with some applications of the present disclosure, the robotic imaging ultrasound system provided in accordance with some applications of the present disclosure, is also configured for facilitating treatment of the detected abnormal matter (e.g., endometriosis lesions), e.g., by applying treatment energy for treatment of the detected endometriosis lesions. Typically, application of the treatment to the detected abnormal matter is done subsequently to performing accurate 3D imaging of the abnormal matter as provided by the robotic imaging ultrasound system provided in accordance with some applications of the present disclosure.

[0237] For some applications, the same ultrasound probe that is used for imaging is also used for applying ultrasound treatment energy by changing parameters of the applied ultrasound energy. For example, the ultrasound probe is configured to apply targeted focused ultrasound (e.g., HIFU or LIFU ultrasound), to ablate the abnormal matter (e.g., endometriosis lesions). Alternatively, or additionally, a separate ultrasound probe is provided for applying ultrasound treatment energy effective for treating the abnormal matter (e.g., endometriosis lesions). For example, the ultrasound probe is configured to apply targeted focused ultrasound (e.g., HIFU or LIFU ultrasound), to ablate the abnormal matter (e.g., endometriosis lesions). For some such applications, the robotic systems described herein comprise at least one additional robotic arm configured to hold the treatment ultrasound probe. Optionally for such cases, the treatment is conducted under imaging which is performed by the imaging probe also held by a robotic arm of the robotic system.

[0238] In accordance with some applications of the present disclosure, treatment is not limited to ultrasound treatment, and the robotic systems provided herein are configured for use with any suitable therapy tool configured to apply treatment energy to treat the abnormal matter (e.g., endometriosis lesions). For example, treatment may include radiofrequency ablation, cryo-ablation, and / or laser treatment. Additionally, or alternatively, a biopsy needle may be used to sample tissue from the abnormal matter (e.g., endometriosis lesions) that was detected using the systems and apparatuses described herein. For some applications, the biopsy is conducted under imaging which is performed by the imaging probe held by a robotic arm of the robotic system.

[0239] For some applications, the robotic systems described herein are configured to robotically aim a laser source for ablation of the abnormal matter (e.g., endometriosis lesions) in open surgery, and / or or a needle for a drug injection directly into the abnormal matter (e.g., endometriosis lesions).

[0240] Further additionally or alternatively, the ultrasound contrast agents described herein as being used to enhance imaging of the abnormal matter (e.g., endometriosis lesions) within acquired ultrasound images, are also used for delivering targeted treatment to the abnormal matter (e.g., endometriosis lesions), thus achieving a selective, non-thermal, mechanical or pharmaceutical therapeutic effect. For example, ultrasound contrast agents (e.g., the targeted contrast agents) can deliver various bioactive substances, thereby providing cell-specific drug delivery.

[0241] Drugs delivered to the abnormal matter (e.g., endometriosis lesions), e.g., using the ultrasound contrast agents, may be released at the site of the abnormal matter (e.g., endometriosis lesions) in at least two modes of operation: one is based on improved drug permeability, and the second is based on ultrasound -activated drug at the target site (e.g., sonodynamic therapy).

[0242] It is noted that in accordance with some applications of the present disclosure, treatment planning is based on the imaging performed in accordance with techniques, apparatus and systems described herein. Additionally, ultrasound imaging is used to monitor the application of treatment and the results of the applied treatment.

[0243] For some applications, selective treatment targeting of the abnormal matter (e.g., endometriosis lesions) is enhanced by motion detection of an organ or the subject (typically by using artificial-intelligence algorithms), and robotically adjusting the ultrasound probe to directly target the abnormal matter (e.g., endometriosis lesions).

[0244] In summary, in accordance with some applications of the present disclosure, the following sequence of steps may be performed in the course of treatment of abnormal matter (e.g., endometriosis lesions):

[0245] • Preparation of a treatment plan based on verification and correction of abnormal matter (e.g., endometriosis lesions) identified through artificial intelligence or manually marked.

[0246] • Treatment execution (e.g., by the delivery of focused ultrasound based on the treatment plan to ablate the abnormal matter (e.g., endometriosis lesions) and / or activation of contrast agents e.g., by cavitation, sonodynamic therapy (described in further detail hereinbelow), and / or by local drug injection, and / or application of laser energy).

[0247] • Treatment monitoring by ultrasound imaging throughout the course of treatment.

[0248] For some applications, the robotic imaging ultrasound system provided in accordance with some applications of the present disclosure, is also configured for concomitant intraoperative real-time detection of the abnormal matter (e.g., endometriosis lesions) during surgical procedures such as laparoscopic surgical procedures. In such a manner, it is ensured that the therapeutic process indicated in a preoperative surgical plan is performed exclusively on abnormal matter (e.g., endometriosis lesions), and the surgical procedure is not relying solely on supposed positioning of the abnormal matter (e.g., endometriosis lesions) as indicated by preoperative images. This is particularly important in cases of abdominal surgeries, since for some such applications, preoperative images may not be completely accurate due to movements during the procedure. (Specifically, endometriosis lesions are very difficult to locate and identify due to abdominal adhesions.) In such a manner, damage to healthy tissue is generally avoided. Intraoperative real-time detection during surgical treatment of the abnormal matter (e.g., endometriosis lesions) is thus highly advantageous in such procedures.

[0249] In summary, in accordance with some applications of the present disclosure, the following sequence of steps may be performed in the course of intraoperative real-time detection of abnormal matter (e.g., endometriosis lesions) during a treatment procedure (such as laparoscopic surgery):

[0250] • Robotic-assisted or standard manual ultrasound imaging in order to identify abnormal matter (e.g., endometriosis lesions) area in general with and without targeted ultrasound contrast agents.

[0251] • Administering (e.g., intravenously or locally or abdominally) targeted (or nontargeted) ultrasound contrast agents.

[0252] • Ultrasound imaging with an ultrasound scanner (either robotic-assisted or a standard manual scanner) after administration of the ultrasound contrast agents.

[0253] • Employing pulse inversion scanning mode for better contrast enhancement.

[0254] • Applying treatment to the abnormal matter (e.g., endometriosis lesions) by applying focused ultrasound according to a treatment plan, and additionally for activation of contrast agents either by cavitation, sonodynamic therapy or other. (Other treatment options such as laser or drug injection, or resection may be applied).

[0255] • On-going treatment monitoring by ultrasound imaging throughout the treatment may be performed.

[0256] Contrast agents

[0257] As described hereinabove, ultrasound contrast agents are used for enhanced identification of the abnormal matter (e.g., endometriosis lesions) in the images that are acquired and processed, in accordance with applications of the present disclosure. The contrast agents are used in combination with a robotic ultrasound system described herein, (e.g., any of the robotic systems described in Figs 1A-18B). The combination of using ultrasound contrast agents that accumulate in the abnormal matter (e.g., endometriosis lesions) together with scanning the abnormal matter (e.g., endometriosis lesions) and processing the scans with the robotic ultrasound system provided herein, produces super resolution (e.g., a resolution of 10 microns) three-dimensional images of the abnormal matter (e.g., endometriosis lesions).

[0258] The contrast agents are typically administered, e.g., by injection, to the patient subsequently to acquiring initial ultrasound scans of the patient. Following administering of the contrast agents, additional ultrasound scans are acquired and the data is processed as described hereinabove.

[0259] For some applications, the ultrasound contrast agents comprise targeted ultrasound contrast agents that are targeted to the abnormal matter (e.g., endometriosis lesions) by having antibodies (or other target-specific molecules) conjugated to the contrast agents. The antibodies can be targeted to various targets in relevant tissue associated with endometriosis. For example, the antibodies may be targeted to ectopic endometrium cells, fibrotic tissue, inflammation, angiogenesis, neurogenesis, stromal cells, or a combination of such targets (or any other molecular target that differentiates the abnormal matter (e.g., endometriosis lesions) from its surrounding tissue).

[0260] For some applications, the contrast agents include a drug for release at the target cell or activated at the target (e.g., sonodynamic therapy, e.g. 5-ALA).

[0261] For some applications, the contrast agents are multi-modal and suitable for use in various imaging modalities including ultrasound, CT, X-ray, and / or MRI.

[0262] For some applications, the ultrasound contrast agents comprise free (non -targeted) microbubbles, that act as echo-enhancers. For some applications, the ultrasound contrast agents comprise targeted microbubbles. For example, VEGFR2 targeted microbubbles are used in accordance with some applications of the present disclosure. Endometriosis lesions have been shown to have extensive angiogenesis which was shown to be associated with high expression of Vascular endothelial growth factor (VEGF) and its receptors in the lesion's blood vessels. Thus, it is hypothesized by the inventors that VEGFR2 targeted microbubbles (such as BR55 (Bracco Research inc.)) will accumulate within the vasculature of the lesion in a higher concentration and for a longer duration than adjacent tissue due to the extensive angiogenesis in endometriosis lesions. Accumulation of the VEGFR2 targeted microbubbles within the endometriosis lesions will in turn result in locally enhanced ultrasound images.

[0263] For some applications, microbubbles, or nanobubbles are used to specifically target endometriosis cells. For some such applications, targeted nano-bubbles are attached to a ligand that specifically targets receptors on the endometriosis cells. The nanobubbles pass through endothelial gaps of blood vessels to reach the lesion cells. The ligand that is coupled to the nanobubbles binds the endometriosis cells receptors. It is hypothesized by the inventors that providing nanobubbles that are conjugated to a ligand that can selectively bind estrogen receptor (ER)P in endometriosis cells and / or IL-1R in endometriosis cells will result in effective ultrasound enhancement (as estrogen receptor (ER)P and IL-1R have been shown to have an increased expression on endometriosis cells compared to healthy cells).

[0264] As described hereinabove, for some applications, during the treatment stage, the ultrasound probe is configured to apply targeted focused ultrasound (e.g., LIFU ultrasound) toward the identified abnormal matter (e.g., endometriosis lesions). For some applications, the targeted focused ultrasound causes cavitation of tissue in the vicinity of any microbubbles or nanobubbles that the ultrasound waves impact. Since microbubbles or nanobubbles preferentially target endometriosis cells, this preferentially destroys the endometriosis cells. Thus, there is a two-fold targeting of the endometriosis cells - first the endometriosis cells are imaged and the ultrasound is preferentially directed toward the endometriosis cells, and secondly, the endometriosis cells are preferentially targeted when causing the cavitation of tissue and the destructions of cells. In such a manner, for some applications, contrast agents are used in both detection and ultrasound-mediated therapy of abnormal matter (e.g., endometriosis lesions). The abnormal matter (e.g., endometriosis lesions) that is identified in the imaging procedure are aimed at by the robotic systems provided herein to apply the ultrasound treatment energy to cause contrast-agent mediated destruction of the tissue (e.g., LIFU in the case of using the microbubbles as described herein) to treat the abnormal matter (e.g., endometriosis lesions).

[0265] It is noted that for some applications, the microbubbles described herein may be administered intravenously and / or via an intravaginal approach. It is further noted, that for some applications, use of contrast-enhancing microbubbles (or other targeted or non-targeted contrast agents) are used to train an artificial intelligence and / or machine-learning algorithm to identify abnormal matter (e.g., endometriosis lesions), such that actual use of the contrast agents is only required during the training stage, and avoided once the system is trained.

[0266] Robotic Systems

[0267] Reference is now made to Figs. 2-18B, which are schematic illustrations of various apparatuses comprising robotic systems configured for use with one or more ultrasound probes for identifying abnormal matter, e.g., endometriosis lesions, within the body of a subject, in accordance with some applications of the present disclosure. Robotic systems provided herein with reference to Figs. 2-18B, typically control scanning of the subject with the ultrasound probes, such that the location and orientation of the ultrasound probe relative to the subject at the at the acquisition of the ultrasound images are known.

[0268] Typically, the ultrasound images that are acquired using the robotic system of Figs. 2- 18B, are processed and analyzed as described herein. In such a manner, the abnormal matter (e.g., endometriosis lesions) are identified within the images produced by the robotic systems shown in Figs. 2-18B.

[0269] Optionally, for some applications, the robotic systems shown in Figs. 2-18B are used in combination with contrast enhanced ultrasound imaging as described herein. For some such applications, the ultrasound images that are acquired using the robotic system of Figs. 2-18B, are processed and analyzed as described herein, for example, in accordance with techniques described with reference to Fig. IB. In such a manner, abnormal matter (e.g., endometriosis lesions) are identified within the images produced by the robotic systems shown in Figs. 2- 18B. For some applications, robotic systems described herein with reference to Figs. 2-18B are configured to identify abnormal matter (e.g., endometriosis lesions) based on pre-training of the system to identify abnormal matter (e.g., endometriosis lesions) based only on ultrasound images that are acquired in the absence of contrast agents (such that use of contrast agents is not required). For example, an artificial intelligence and / or a machine-learning algorithm is used to identify abnormal matter (e.g., endometriosis lesions), as described hereinabove.

[0270] Typically, the robotic systems shown in Figs. 2-18B are configured for use with computer processor 28, as described herein. Computer processor 28 is configured to drive the robotic system shown in Figs. 2-18B to acquire ultrasound images of the subject’s body, e.g., pelvis and / or abdomen while probe 22 moves along the portion of the body, such that the location and orientation of ultrasound probe 22 at the acquisition of each of the ultrasound images relative to the subject’s body portion is known. Computer processor 28 is configured to process the ultrasound images as described hereinabove to create images of high resolution (e.g., resolution of 10-micron), in which the abnormal matter, e.g., the endometriosis lesions are identified.

[0271] The robotic systems shown in Figs. 2-18B are configured to generally provide high density parallel images, with a distance as low as 20 microns between images. The robotic systems typically acquire and accumulate authentic data, with little or no tissue deformation due to a lightweight coupling method to the examined subject and accounting for breathing motion and subject movement. The robotic systems shown in Figs. 2-18B allow for the accurate and precise absolute location in space of the acquired images to be known, thereby allowing repeatable imaging.

[0272] Reference is first made to Fig. 2, which is a schematic illustration of an apparatus comprising a robotic system 120 configured for identifying abnormal matter (e.g., endometriosis lesions) within the body of a subject, in accordance with some applications of the present disclosure. Robotic system 120 is configured for use with one or more ultrasound probes 22. Robotic system 120 typically comprises a tray 50 that defines internal channels and is configured to be placed on a pelvis and / or an abdomen of the subject. Additionally, robotic system 120 typically comprises an ultrasound probe supporting portion 36 that is configured to hold ultrasound probe 22, to move along the internal channels of tray 50. Typically, ultrasound system 120 comprises a control console 29 that includes computer processor 28 and controller 26 (it is noted that controller 26 may be a component of computer processor 28) and display 32.

[0273] In accordance with some applications of the present disclosure, tray 50 is placed on pelvis and / or abdomen 14 of a female subject 10, while subject 10 is laying on a gynecological chair 12, and an ultrasound probe supporting portion 36 holds ultrasound probe 22 and moves probe 22 along the internal channels defined by the tray. Computer processor 28 is configured to drive the robotic system to acquire ultrasound images of the subj ect’ s pelvis and / or abdomen while probe 22 moves along the internal channels defined by the tray, such that the location and orientation of ultrasound probe 22 at the acquisition of each of the ultrasound images relative to the subj ect’ s pelvis and / or abdomen is known. Computer processor 28 is configured to process the ultrasound images as described hereinabove to create images of high resolution (e.g., resolution of 10-micron), in which the abnormal matter (e.g., endometriosis lesions) is identified. Typically, tray 50 is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe. For some applications, tray 50 is configured to maintain the orientation of the ultrasound probe (i.e., the transducer of the ultrasound probe) such that it is substantially parallel to a tangent to a center of a pelvis and / or an abdomen of the subject as the robotic system moves the ultrasound probe.

[0274] As shown in blow-up A of tray 50, for some applications, tray 50 is shaped to conform to the curvatures of a pelvis and / or abdomen 14 such that when placed on a pelvis / abdominal area on subject 10, tray 50 is coupled to the skin of the subject generally without gaps between tray 50 and the subject. A bottom surface of tray 50 typically comprises an ultrasound transparent material such as nylon or mesh and acoustic coupling gel is typically applied to both sides of the transparent material (i.e., on the side that is placed in contact with the subject and on the side over which ultrasound probe 22 is moved). Blow up A shows parallel movement of ultrasound probe 22 along a predefined path provided by tray 50 as indicated by arrow Al . As the robotic system moves the ultrasound probe along the tray, the robotic system typically maintains ultrasound probe 22 at a constant orientation in space. For example, ultrasound probe 22 is maintained at a constant orientation such that it is substantially parallel to a tangent to a center of a pelvis and / or an abdomen of the subject as the robotic system moves ultrasound probe 22, as indicated in blow up A of Fig. 2.

[0275] For other applications, as shown in blow-up B, tray 50A, is similar to tray 50, except that the base of tray 50A is flat and is not curved to conform to the shape of the pelvis and / or abdomen. For some such applications, a water bath 38 is placed underneath tray 50A (in order to close any gaps between the tray and the abdomen and provide acoustic coupling) and flat base of tray 50A is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe. Typically, the flat base of tray 50A is configured to maintain ultrasound probe 22 substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen as the robotic system moves the ultrasound probe along a predefined path provided by tray 50A, and indicated by arrow A2 in blow-up B.

[0276] For some applications, maintaining the ultrasound probe at a constant orientation in space over the course of the procedure (or a portion thereof) facilitates the generation of high- resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective positions with each other such as to generate a three- dimensional image, because the orientations of the images in space with respect to each other are fixed. For some applications, maintaining the transducer of the ultrasound probe substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen as the robotic system moves the ultrasound probe facilitates the generation of high-resolution three- dimensional images. For example, this typically facilitates acquiring a large amount of useful and high-resolution imaging data within each image, because the ultrasound transducer is substantially directly facing the coronal plane of the subject’s abdomen and / or pelvis (or other scanned body area), since the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) is typically parallel to the coronal plane of the subject’s body at the abdomen and / or pelvis (or other scanned body area).

[0277] Reference is now made to Figs. 3A-3B, which are schematic illustrations of components of a robotic system 140 configured for use for identifying abnormal matter (e.g., endometriosis lesions) within a subject’s body, in accordance with some applications of the present disclosure. Fig 3 A shows a top view of components of robotic system 140, and Fig. 3B shows a side view of components of robotic system 140. As shown, components of robotic system 140 include four motors 142, a tray 148, and a spring 146. Robotic system 140 is configured for use with ultrasound probe 22 for scanning over skin 16. As shown, robotic system 140 is configured for movement along the X axis and Y axis in one plane, by having four motors 142, one at each corner of the plane connected to ultrasound probe 22 by cables 143. The Z axis is passive, having only an encoder (e.g., a wire encoder). Spring 146 typically facilitates movement in an upward direction of probe 22 by balancing the transducer weight while being pushed against the surface of skin 16.

[0278] Reference is now made to Fig. 3C. For some applications the robotic systems described herein (e.g., robotic system 140 and / or robotic system 132, and / or any of the robotic systems described herein), further comprise a height sensor 147 configured to detect a height in space of the transducer of ultrasound probe 22 (probe 22 is shown, for example in Figs. 3 A- B). As described hereinabove with reference to robotic system 140 shown in Figs. 3A and 3B, the robotic system is configured for movement along the X axis, the Y axis and the Z axis (the XYZ axes are indicated in Fig. 3C). Typically, robotic system 140 is configured for motorized movement along the X axis and Y axis in one plane, while upward / downward movement along the Z axis is passive. The ultrasound probe (not shown in Fig. 3C) is typically held by an ultrasound probe supporting portion 137 (e.g., an ultrasound probe adaptor), and movement of ultrasound probe supporting portion 137 and the ultrasound probe in an upward direction along linear rail 145 is typically facilitated by spring 146. Spring 146 typically provides a counterforce to much of the combined weight of the ultrasound probe and the ultrasound probe supporting portion (e.g., between 40 and 90 percent (e.g., between 60 and 90 percent) of the combined weight of the ultrasound probe and the ultrasound probe supporting portion) but does not provide a counterforce to the full combined weight of the ultrasound probe and the ultrasound probe supporting portion. For some applications, the spring is configured to provide a counterforce such that, as the ultrasound probe is moved within the X- Y plane relative to the portion of the subject’s body, the ultrasound probe pushes against the surface of skin of the subject with a weight of between 50 g and 2 kg, e.g., between 50 g and 1 kg. Thus, on the one hand, as the ultrasound probe is moved within the X-Y plane relative to the subject’s pelvis and / or abdomen the ultrasound probe pushes against a surface of skin of the subject, but on the other hand as the probe moves across the surface of the skin it adjusts its height (i.e., it moves along the Z-axis) in a passive manner to accommodate the topography of the subject’s skin.

[0279] The scope of the present disclosure includes using a different counterforce mechanism to spring 146. For example, an elastic or a ratchet mechanism may be used, mutatis mutandis.

[0280] For some applications, height sensor 147 comprises a magnetic field sensor that is located at a location along linear rail 145 and is configured to detect a magnetic field generated by a magnet coupled to a portion of the apparatus (e.g., the ultrasound probe and / or ultrasound probe supporting portion 137), that moves vertically along the Z axis. The magnetic field sensed by height sensor 147 changes in accordance with movement of the ultrasound probe along the Z axis, allowing sensor 147 to determine the precise height of the ultrasound transducer in the ultrasound probe.

[0281] Determining the height of the transducer in space over the course of acquiring sets of images facilitates the generation of high-resolution three-dimensional images, since the height of the ultrasound probe in space at the acquisition of each of the ultrasound images is known. For example, this typically facilitates the combination of multiple images acquired from respective heights with each other such as to generate a three-dimensional image, because the exact height of the images in space with respect to each other, is known.

[0282] Alternatively, for some applications, movement of ultrasound probe supporting portion

[0283] 137 (and consequently movement of the ultrasound probe) along the Z axis is motorized movement that is controlled by closed-loop control through controller 26 using input from sensors such as optical sensors and / or load sensors.

[0284] Reference is now made to Figs. 4A-4B, which are schematic illustrations of components of a robotic system 150 configured for use for identifying abnormal matter (e.g., endometriosis lesions) within a subject’s body, in accordance with some applications of the present disclosure. Fig 4 A shows a top view of components of robotic system 150, and Fig. 4B shows a side view of components of robotic system 150. As shown, components of robotic system 150 comprise a platform 158 and a robotic arm 156 for controlling movement of ultrasound probe 22 across skin 16, using rotation motors 152. Robotic system 150 has a motorized Z axis with distance sensor and an encoder. Arm rotation motor 152 on the base of arm 156 facilitates motion of ultrasound probe 22, while allowing elongation of arm 156 in Z and XY axes.

[0285] Reference is now made to Figs. 5A-5B, which are schematic illustrations of components of a robotic system 160 configured for use for identifying abnormal matter (e.g., endometriosis lesions) within a subject’s body, in accordance with some applications of the present disclosure. Fig 5 A shows a top view of components of robotic system 160, and Fig. 5B shows a side view of components of robotic system 160. Robotic system 160 comprises trail 162, similar to a monorail, along which ultrasound probe 22 is moved. Trail 162 is placed above skin 16 and the ultrasound transducer is moved along the predefined path created by trail 162 such that the location and orientation of the ultrasound probe at the acquisition of each of the ultrasound images relative to the subject is known. Typically, trail 162 can be tailored to specifically fit the size and shape of a subject and have a predetermined path to specifically match the subject’s needs.

[0286] Reference is now made to Figs. 6A-6B, which are schematic illustrations of tray 50 (typically, flat tray 50A) described herein with reference to Fig. 2, in accordance with some applications of the present disclosure. Fig 6A shows a top view of tray 50, and Fig. 6B shows a side view of tray 50. Tray 50 has internal channels 49 which define a determined path along which ultrasound probe 22 moves. For some applications, the channels are separated from each other by walls 51. The walls define grooves 53 that are configured to receive protrusions 55 from the ultrasound probe. The ultrasound probe moved along the channels in a controlled manner by protrusions 55 sliding along grooves 53. As described herein above, tray 50 ensures that the location and orientation of the ultrasound probe at the acquisition of each of the ultrasound images relative to the subject is known.

[0287] Tray 50 (and trail 162) can be manufactured to be tailored to match the body shape of the subject, e.g., according to three-dimensional vision-based mapping that is carried out before the ultrasound scanning using the robotic system described herein.

[0288] Reference is now made to Figs. 7-1 IF, which are schematic illustrations of components of additional robotic systems configured for use for identifying abnormal matter within a subject’s body, for example, endometriosis lesions within the body of a subject, in accordance with some applications of the present disclosure. In general, the robotic systems of Figs. 7-14 are configured for use with one or more ultrasound probes that connect to a probe-holding portion in the robotic systems, in accordance with techniques described herein. Additionally, the robotic systems of Figs. 7-14 are configured for use with computer processor 28 and typically comprise a user interface via which a user interacts with components of robotic systems (e.g., the user interface comprises a display 32, shown for example in Fig. 7).

[0289] Reference is made to Fig. 7, which is a schematic illustration of components of a robotic system 220 configured for use for identifying abnormal matter within a subject’s body (e.g., endometriosis lesions), in accordance with some applications of the present disclosure. Robotic system 220 is typically structured to be placed at or coupled to a side of a bed (e.g., bed 18). For some applications, robotic system 220 is wheeled to a bed accommodating the subject. Robotic system 220 is typically mobile, foldable and compatible with sterile environments. In addition, the structure of robotic system 220 is typically suited for sterile draping for use in sterile environments.

[0290] Reference is now made to Figs. 8A and 8B, which are schematic illustration of components of a robotic system 230 configured for use for identifying abnormal matter within a subject’s body (e.g., endometriosis lesions), in accordance with some applications of the present disclosure. Robotic system 230 is typically structured to be suspended from the ceiling of an examination room. In such a manner, robotic system 230 does not occupy space on the floor of the examination room (which is typically limited). The transition between Fig. 8 A and 8B shows lowering of the robotic system 230 in the direction indicated by arrow A3 a into an operational position. As shown, in the operational position, probe 22 is held by robotic system 230 to scan subject 10 on bed 18. When not being operated, robotic system 230 is lifted (and folded) in the direction indicated by arrow A3b to be kept close to the ceiling. Reference is now made to Figs. 9A and 9B, which are schematic illustrations of components of a robotic system 240 configured for use for identifying abnormal matter within a subject’s body (e.g., endometriosis lesions), in accordance with some applications of the present disclosure. Figs. 9A and 9B show views of robotic system 240 being used to scan subject 10 positioned on bed 18. In accordance with some applications of the present disclosure, robotic system 240 is coupled to a bottom side of bed 18 (removably coupled or, alternatively, permanently coupled to bed 18, e.g., by being built into the bed).

[0291] In accordance with some applications of the present invention, robotic system 240 operates within or via bath 138. Bath 138 is typically filled with ultrasound conductive medium (e.g., water or ultrasound conductive gel) and robotic system 240 is configured to move within bath 138 to scan the subject. In such a manner, robotic system 240 allows for automatic acoustic coupling between the ultrasound probe and the subject.

[0292] As shown in Figs. 9A and 9B, for some applications, subject 10 lies on bed 18 in a prone position and robotic system 240 is movable to scan body portions of the subject, e.g., the abdomen / pelvis area for detection of endometriosis lesions. Robotic system 240 is additionally configured to be movable to scan any other body portion of the subject, e.g., to be movable over breasts of the subject to scan breast tissue for detection of abnormalities. It is noted that depending on the body portion to be scanned, robotic system 240 is configured to scan the subject while lying in a supine position. It is noted that, in general, the scope of the present disclosure includes applying any of the apparatus and methods described herein to the detection and / or treatment of abnormal matter (e.g., a tumor or a lesion) within a subject’s breasts.

[0293] Reference is now made to Fig. 10, which is a schematic illustration of components of a robotic system 250 configured for identifying abnormal matter within a subject’s body (e.g., endometriosis lesions), in accordance with some applications of the present disclosure. Typically, robotic system 250 comprises a bedside robot being structured to be coupled to bed 18 in such a manner that minimizes the space that robotic system 250 occupies. As shown in Fig. 10, some components of robotic system 250 are configured for fitting under bed 18 and other components of robotic system 250 are configured for coupling to the bedside. More specifically, as shown in Fig. 10, robotic system 250 comprises a hardware box 251 configured for fitting under bed 18, such that it does not occupy floor space in the examination room. Additionally, robotic system 250 comprises a bedside post 252 for positioning the ultrasound scanning module (e.g., the robotic arm that holds the ultrasound probe). Bedside post is typically shaped and sized to be attached to bed 18 such that the space occupied by robotic system 250 is minimal.

[0294] Reference is now made to Figs. 11 A, 11B, 11C, 11D, HE and 1 IF, which are schematic illustrations of components of a robotic system 250 shown in Fig. 10 being used with an adjustable bed 180, in accordance with some applications of the present disclosure. Adjustable bed 180 is shown being used with robotic system 250 by way of illustration and not limitation. Adjustable bed 180 is configured for use with other robotic systems described herein. Adjustable bed 180 is typically a tiltable bed. In some applications, the tiltable bed is a motorized bed that is tiltable in at least two degrees-of-freedom, and optionally two- to six- degrees of freedom. Typically, the tiltable bed, together with robotic system 250, is configured to optimize positioning of subject 10 to facilitate optimal interfacing between the ultrasound probe and the target tissue being scanned. For some applications, the computer processor tilts the bed such that the portion of the subject’s body is in a desired orientation relative to the ultrasound probe, while the ultrasound probe is moved relative to the portion of the subject’s body.

[0295] Figs. 11 A and 1 ID show subject 10 positioned on bed 18 prior to tilting of motorized bed 180. Figs. 1 IB, 11C, 1 IE and 1 IF show bed 180 in respective tilted positions to facilitate optimal interfacing between the ultrasound probe and the target tissue being scanned.

[0296] Reference is now made to Fig. 12, Figs. 13A-B, Fig. 14, Fig. 15 and Fig. 16, which are schematic illustrations of components of various types of ultrasound conductive medium -filled compartments / devices for providing optimal coupling between the skin and the ultrasound probe, for use with any of the robotic systems provided herein for identifying abnormal matter (e.g., endometriosis lesions) within a subject’s body, in accordance with some applications of the present disclosure.

[0297] Reference is first made to Fig. 12, which is a schematic illustration of an apparatus for identifying abnormal matter a subject's body (e.g., endometriosis lesions), comprising a robotic system 130 configured for use with one or more ultrasound probes 22, in accordance with some applications of the present disclosure. As shown, robotic system 130 is configured for use with a water-filled compartment, e.g., water bath 38. It is noted that bath 38 may be filled with any other ultrasound conductive medium. As described hereinabove with reference to Fig. 2, for some applications, in a flat configuration thereof, tray 50A is used with a water bath to ensure coupling of the ultrasound probe to the skin of subject 10 at the region being scanned (e.g., the abdomen / pelvis area). It is noted that, as shown in Fig. 12, use of water bath 38 is not limited to use with a tray but may also be used with a robotic system having a robotic arm fixed to gynecological chair 12, (or to a different type of chair or bed upon which the subject is positioned), as shown in Fig. 12, being configured for motion in XY directions within water bath 38.

[0298] As shown in Fig. 12, the base of the robotic arm is coupled to a base 34, e.g., via a trail upon which the base of the robotic arm moves, as shown. For some applications, the ultrasound probe is maintained in a fixed orientation relative to base 34 (e.g., using a robotic arm that has a double-parallelogram structure as described hereinbelow). Thus, the ultrasound probe is typically maintained in a fixed orientation with respect to the back of the gynecological chair and therefore maintained in a substantially fixed orientation in space over the course of the procedure (or a portion thereof). For some applications, maintaining the ultrasound probe at a constant orientation in space over the course of the procedure (or a portion thereof) facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective positions with each other such as to generate a three-dimensional image, because the orientations of the images in space with respect to each other are fixed.

[0299] For some applications, the transducer of the ultrasound probe is maintained substantially parallel to a tangent to a center of an abdomen of the subject as the robotic system moves the ultrasound probe. For example, the transducer of the ultrasound probe may be maintained substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) by fixing the orientation of the ultrasound probe relative to base 34 (which is fixed to the gynecological chair), and by assuming minimal movement between the subject’s pelvis and / or abdomen and the back of the gynecological chair over the course of the procedure. For some alternative applications, base 34 is coupled directly to the subject, such that the base of the robotic arm (and thereby the ultrasound transducer) is maintained in a substantially fixed orientation with respect to the subject’s abdomen over the course of the procedure (or a portion thereof).

[0300] For some applications, maintaining the transducer of the ultrasound probe substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) as the robotic system moves the ultrasound probe facilitates the generation of high- resolution three-dimensional images. For example, this typically facilitates acquiring a large amount of useful and high-resolution imaging data within each image, because the ultrasound transducer is substantially directly facing the coronal plane of the subject’s abdomen and / or pelvis the coronal plane of the subject’s body at the abdomen and / or pelvis (or other scanned body area). As described hereinabove, for some applications, tray 50A (shown in Fig. 2) is used to maintain the ultrasound probe (i.e., the transducer of the ultrasound probe) in a fixed orientation in space (e.g., substantially parallel to a tangent to a center of an abdomen of the subject) over the course of the procedure (or a portion thereof).

[0301] For some applications, water bath 38 is filled with water and is structured such that an upper side of bath 38 (i.e., a side through which ultrasound probe 22 is inserted into the bath) is open, in order to allow ultrasound probe 22 to be inserted into and move within bath 38. A bottom surface of bath 38 (i.e., the side that comes in contact with the subject) is typically made of a flexible ultrasound transparent material. For example, the bottom surface of bath 38 is made of one or more materials having ultrasound conductance properties, e.g., synthetic latex, silicone, polyurethane, sodium PAA, and / or BoPET (Mylar®). The bottom side of bath 38 may be structured such that the material of the bottom side of bath 38 has a full material cross-section and the ultrasound waves propagate through the bottom side of bath 38 due to the ultrasound conductance properties of the materials of which the bottom side of bath 38 is made. Additionally, or alternatively, the bottom side of bath 38 is structured as a membrane having a perforated cross section. Further additionally or alternatively, the bottom side of bath 38 has an open cell foam structure. The bottom side of bath 38 is typically coupled to the skin with acoustic coupling gel that is applied between the skin and the water bath.

[0302] Bath 38 is described as a water-filled bath by way of illustration and not limitation. In accordance with applications of the present disclosure, bath 38 may be filled with ultrasound conductive materials such as acoustic coupling gel, ultrasound cream, and / or oil.

[0303] Fig. 12 shows subject 10 in a supine position with the water bath positioned on an abdomen of the subject, in accordance with some applications of the present disclosure. For other applications, subject 10 is positioned in a prone position with the water bath positioned between the bed and subject 10 and the transducer moves below subject 10 to scan images.

[0304] Reference is now made to Fig. 13 A, which is a schematic illustration of an apparatus for identifying abnormal matter within a subject's body (e.g., endometriosis lesions), comprising a robotic system 132 configured for use with one or more ultrasound probes 22, in accordance with some applications of the present disclosure. As shown in Fig. 13 A, a robotic system 132 is placed over subject 10 (e.g., by being wheeled over a bed 18 upon which the subject is positioned). As shown, robotic system 132 comprises ultrasound probe supporting portion 137 configured to hold ultrasound probe 22. Similar to robotic system 130 described with reference to Fig. 12, robotic system 132 is configured for use with an ultrasound conductive medium-filled compartment, e.g., water bath 38.

[0305] When robotic system 132 is positioned over the subject, water bath 38 is positioned to cover the abdomen / pelvis area of the subject, and ultrasound probe 22 held within ultrasound probe supporting portion 137 is configured to move in XY directions within water bath 38 (typically while water bath 38 remains stationary while the ultrasound probe moves within the bath). Water bath 38 is filled with water and is structured such that an upper side of bath 38 (i.e., a side through which ultrasound probe 22 is inserted into the bath) is open, in order to allow ultrasound probe 22 to be inserted into and move within bath 38.

[0306] A bottom surface of bath 38 (i.e., the side that comes in contact with the subject) is typically made of a flexible ultrasound transparent material. For example, the bottom surface of bath 38 is made of one or more materials having ultrasound conductance properties, e.g., synthetic latex, silicone, polyurethane, sodium PAA, and / or BoPET (Mylar®). The bottom side of bath 38 may be structured such that the material of the bottom side of bath 38 has a full material cross-section and the ultrasound waves propagate through the bottom side of bath 38 due to the ultrasound conductance properties of the materials of which the bottom side of bath 38 is made. Additionally, or alternatively, the bottom side of bath 38 is structured as a membrane having a perforated cross section. Further additionally or alternatively, the bottom side of bath 38 has an open cell foam structure. The bottom side of bath 38 is typically coupled to the skin with acoustic coupling gel that is applied between the skin and the water bath.

[0307] As noted hereinabove, bath 38 is described as a water-filled bath by way of illustration and not limitation. In accordance with applications of the present disclosure, bath 38 may be filled with ultrasound conductive materials such as acoustic coupling gel, ultrasound cream, and / or oil.

[0308] When held by ultrasound probe supporting portion 137, the ultrasound probe is typically maintained in a fixed orientation with respect to bed 18 and therefore maintained in a substantially fixed orientation in space over the course of the procedure (or a portion thereof). For some applications, maintaining the ultrasound probe at a constant orientation in space over the course of the procedure (or a portion thereof) facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective positions with each other such as to generate a three-dimensional image, because the orientations of the images in space with respect to each other are fixed. For some applications, the transducer of the ultrasound probe is maintained substantially parallel to a tangent to a center of an abdomen of the subject as ultrasound probe supporting portion 137 moves the ultrasound probe. For example, the transducer of the ultrasound probe may be maintained substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) by fixing the orientation of the ultrasound probe relative to bed 18, and by assuming minimal movement between the subject’s pelvis and / or abdomen and bed 18 over the course of the procedure. For some applications, maintaining the transducer of the ultrasound probe substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) as the robotic system moves the ultrasound probe facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates acquiring a large amount of useful and high-resolution imaging data within each image, because the ultrasound transducer is substantially directly facing the coronal plane of the subject’s abdomen and / or pelvis the coronal plane of the subject’s body at the abdomen and / or pelvis (or other scanned body area).

[0309] Reference is now made to Fig. 13B, which is a schematic illustration of an additional view of the robotic system 132 shown in Fig. 13 A, for identifying abnormal matter (e.g., endometriosis lesions) within a body of subject 10 configured for use with water bath 38, in accordance with some applications of the present disclosure.

[0310] Fig. 13B shows a top view of water bath 38 positioned in contact with the abdomen / pelvis area of subject 10. Ultrasound probe 22 is shown held within ultrasound probe supporting portion 137 such that probe 22 is moved by probe supporting portion 137 in XY directions within water bath 38. As described hereinabove, water bath 38 is used to enhance acoustic coupling between ultrasound probe 22 and the skin of the subject. Also shown in Fig. 13B is height sensor 147, which is as described with reference to Fig. 3C. As described with reference to Fig. 3C, system 132 is configured to detect a height in space of the transducer of ultrasound probe 22 that is configured to move in a passive manner along the Z axis.

[0311] Determining the height of the transducer in space over the course of acquiring sets of images facilitates the generation of high-resolution three-dimensional images, since the height of the ultrasound probe in space at the acquisition of each of the ultrasound images is known. For example, this typically facilitates the combination of multiple images acquired from respective heights with each other such as to generate a three-dimensional image, because the exact height of the images in space with respect to each other, is known.

[0312] Additionally, as shown in Fig. 13B, ultrasound probe 22 is maintained in a fixed orientation with respect to bed 18 and therefore maintained in a substantially fixed orientation in space over the course of the procedure (or a portion thereof). As described hereinabove, maintaining the ultrasound probe at a constant orientation in space over the course of the procedure (or a portion thereof) facilitates the generation of high -resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective positions with each other such as to generate a three-dimensional image, because the orientations of the images in space with respect to each other are fixed. For some applications, the transducer of the ultrasound probe is maintained substantially parallel to a tangent to a center of an abdomen of the subject as ultrasound probe supporting portion 137 moves the ultrasound probe. For example, the transducer of the ultrasound probe may be maintained substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) by fixing the orientation of the ultrasound probe relative to bed 18, and by assuming minimal movement between the subject’s pelvis and / or abdomen and bed 18 over the course of the procedure. For some applications, maintaining the transducer of the ultrasound probe substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) as the robotic system moves the ultrasound probe facilitates the generation of high-resolution three-dimensional images. For example, this typically facilitates acquiring a large amount of useful and high-resolution imaging data within each image, because the ultrasound transducer is substantially directly facing the coronal plane of the subject’s abdomen and / or pelvis the coronal plane of the subject’s body at the abdomen and / or pelvis (or other scanned body area).

[0313] Reference is now made to Fig. 14, which is a schematic illustration of components of an apparatus comprising a robotic system for identifying abnormal matter within a subject's body (e.g., endometriosis lesions), configured for use with an ultrasound conductive medium- filled compartment 39, in accordance with additional applications of the present disclosure. As shown in Fig. 14, for some applications, ultrasound probe 22 is positioned within ultrasound conductive medium-filled compartment 39. For some applications, compartment 39 is water-filled and compartment 39 comprises a water bath. For other applications, compartment 39 is filled with an ultrasound conductive medium other than water, e.g., acoustic coupling gel. In contrast to water bath 38 (which is configured to cover the scanned area of the subject’s abdomen / pelvis such that probe 22 moves within bath 38), compartment 39 is shaped and sized to have dimensions that closely surround ultrasound probe 22 and is configured to move together with probe 22, when probe 22 moves across the subject’s abdomen / pelvis.

[0314] More specifically, ultrasound probe 22 is held by ultrasound probe supporting portion 137 to move across the subject’s abdomen / pelvis to scan the area. Compartment 39 moves together with ultrasound probe 22 that is moved by ultrasound probe supporting portion 137 to scan subject’s abdomen / pelvis.

[0315] For some applications the sidewalls of compartment 39 are rigid, whereas a bottom surface of compartment 39 (i.e., the side that comes in contact with the subject) is typically made of a flexible ultrasound transparent material. For example, the bottom surface of compartment 39 is made of one or more materials having ultrasound conductance properties, e.g., synthetic latex, silicone, polyurethane, sodium PAA, and / or BoPET (Mylar®). The bottom side of compartment 39 may be structured such that the material of the bottom side of compartment 39 has a full material cross-section and the ultrasound waves propagate through the bottom side of compartment 39 due to the ultrasound conductance properties of the materials of which the bottom side of compartment 39 is made. Additionally, or alternatively, the bottom side of compartment 39 is structured as a membrane having a perforated cross section. Further additionally or alternatively, the bottom side of bath 38 has an open cell foam structure. The bottom side of compartment 39 may further be coupled to the skin with acoustic coupling gel that is applied between the skin and the compartment 39.

[0316] Compartment 39 is described as a water-filled bath by way of illustration and not limitation. In accordance with applications of the present disclosure, compartment 39 may be filled with ultrasound conductive materials such as acoustic coupling gel, ultrasound cream, and / or oil.

[0317] Reference is now made to Fig. 15, which is a schematic illustration of ultrasound probe 22 configured for use with any one of the robotic systems described herein for identifying abnormal matter, e.g., endometriosis lesions, within a subject’s body, ultrasound probe 22 being configured for use with an ultrasound conductive medium -filled bladder 37, in accordance with additional applications of the present disclosure. In accordance with some applications of the present disclosure, coupling of ultrasound probe 22 and skin of the subject is facilitated by ultrasound transparent bladder 37 that is filled with an ultrasound conductive medium and that easily conforms to the shape of a scanned region of the body (e.g., the abdomen / pelvis). Extra acoustic coupling gel may be applied between bladder 37 and the skin in order to enhance coupling.

[0318] In accordance with applications of the present disclosure, ultrasound transparent bladder 37 is filled with an ultrasound conductive medium such as water, acoustic coupling gel, ultrasound cream, and / or oil. For some applications, ultrasound transparent bladder 37 is made of one or more materials having ultrasound conductance properties, e.g., synthetic latex, silicone, polyurethane, sodium PAA, and / or BoPET (Mylar®).

[0319] Ultrasound transparent bladder 37 may be structured such that the material of bladder 37 has a full material cross-section and the ultrasound waves propagate through bladder 37 due to the ultrasound conductance properties of the materials of which bladder 37 is made. Additionally, or alternatively, ultrasound transparent bladder 37 is structured as a membrane having a perforated cross section. Further additionally or alternatively, ultrasound transparent bladder 37 has an open cell foam structure.

[0320] Reference is now made to Fig. 16, which is a schematic illustration indicating ultrasound probe 22 configured for use with any one of the robotic systems described herein for identifying abnormal matter within a subject’s body (e.g., endometriosis lesions), ultrasound probe 22 being configured for use with a device 62. Device 62 is configured to maintain optimal coupling between skin of the subject and the ultrasound probe, in accordance with some applications of the present disclosure. Typically, device 62 functions in a mechanism that is similar to that of a hovercraft having an ultrasound conductive medium filled-bladder 72 (e.g., filled with water, acoustic coupling gel, ultrasound cream, and / or oil) defined by a flexible barrier 71 (e.g., similar to a skirt of a hovercraft). The ultrasound conductive medium is fed to bladder 72 via feeder tube 77 to maintain a pressure (e.g., a water pressure) that is sufficient to support the weight of ultrasound probe 22 so that device 62 is not weighing down on skin 16 of the subject, and such that ultrasound conductive medium is continuously existing the bottom of the barrier to maintain the skin wet for providing optimal coupling between ultrasound probe 22 and the skin. Reference is now made to Figs. 17A and 17B. Fig. 17A is a schematic illustration of an apparatus for identifying abnormal matter, e.g., endometriosis lesions, within a subject’s body, comprising a robotic system 122 configured for use with first and second ultrasound probes (e.g., an external abdominal ultrasound probe 42 and an intraluminal ultrasound probe 44). Fig. 17B is a schematic illustration of robotic system 122 being used to scan the subject, showing first probe 42 above the pelvis and / or abdomen of the subject and second probe 44 inserted into a lumen of the subject (e.g., rectum or vagina), in accordance with applications of the present disclosure.

[0321] Robotic system 122 comprises an abdominal portion 46 comprising one or more abdominal robotic arms 52 and an abdominal ultrasound probe supporting portion 56 that is configured to hold first ultrasound probe 42 above an abdomen of the subj ect. Robotic system 122 additionally comprises an intraluminal portion 48 comprising one or more intraluminal robotic arms 54 and an intraluminal ultrasound probe supporting portion 58, the intraluminal portion being configured to insert second ultrasound probe 44 into a lumen of the subject selected from the group consisting of: a rectum and a vagina.

[0322] Robotic system 122 additionally comprises at least one computer processor 28 (computer processor 28 is not shown in Figs. 17A-B) configured to determine the positions and orientations of the abdominal and intraluminal ultrasound probes 42 and 44, with respect to each other, and to drive first ultrasound probe 42 to acquire abdominally-acquired ultrasound images of the subject’s pelvis and / or abdomen while driving abdominal portion 46 of robotic system 122 to move first ultrasound probe 42 relative to the subject’s pelvis and / or abdomen. The computer processor is additionally configured to drive second ultrasound probe 44 to acquire intraluminally-acquired ultrasound images of the subject’s pelvis and / or abdomen while driving intraluminal portion 48 of robotic system 122 to move second ultrasound probe 44 relative to the subject’s pelvis and / or abdomen. The computer processor is then configured to generate three-dimensional ultrasonic imaging data based on a combination of the abdominally-acquired ultrasound images and the intraluminally-acquired ultrasound images (typically using processing techniques described herein) to identify abnormal matter (e.g., endometriosis lesions) based upon the three-dimensional ultrasonic imaging data. Typically, ultrasound probe 42 is mounted on abdominal ultrasound probe supporting portion 56 which has a motorized XYZ movement and / or motorized rotation movement. Further typically, ultrasound probe 44 is mounted on abdominal ultrasound probe supporting portion 58 which has a motorized rotation and Z- movement.

[0323] For some applications, the abdominal robotic arms 52 and the intraluminal robotic arms 54 are mounted upon the same base 45 as each other, as shown. For such applications, the computer processor typically determines the positions and orientations of the abdominal and intraluminal ultrasound probes 42 and 44, with respect to each other, by virtue of determining the position and orientation of each of the abdominal and intraluminal ultrasound probes 42 and 44 relative to base 45. For some applications, the robotic system maintains the abdominal and / or intraluminal ultrasound probes 42 and 44 at a fixed orientation in space, for example, using the techniques described herein in order to facilitate determining the position and orientation of each of the abdominal and intraluminal ultrasound probes 42 and 44 relative to each other. For some applications, the computer processor determines the position and orientation of each of the abdominal and intraluminal ultrasound probes 42 and 44 relative to a common coordinate system, for example using electromagnetic sensors that are coupled to the ultrasound probes and / or the robotic arms, and / or using a navigation system.

[0324] Still referring to Figs. 17A and 17B, for some applications, data acquired from either one of abdominal and intraluminal ultrasound probes 42 and 44 is used for optimizing scanning performed by the other probe. Additionally, each one of abdominal and intraluminal ultrasound probes 42 and 44 may have access to imaging areas that are not accessible for imaging by the other probe. In general, the 3D reconstructed image can be obtained by the data acquired by both abdominal and intraluminal ultrasound probes 42 and 44, or by either one of abdominal or intraluminal ultrasound probes 42 and 44. For some applications, the aforementioned techniques for using data acquired from one ultrasound probe for optimizing scanning performed by the another ultrasound probe are applied to a different combination of two or more ultrasound probes, e.g., two or more abdominal probes.

[0325] Reference is now made to Figs. 18A and 18B, which are schematic illustrations of components of an apparatus comprising a robotic system 124 (Fig. 18A) and 126 (Fig. 18B) for identifying abnormal matter, e.g., endometriosis lesions within a subject’s body, and for use with one or more ultrasound probes (e.g., ultrasound probe 22 shown in Fig. 18B). Robotic system 124 and 126 comprise one or more robotic arms 128 and 129, and an ultrasound probe supporting portion 131 that is configured to hold the ultrasound probe 22. (In Fig. 18 A, the ultrasound probe is depicted schematically.) Robotic systems 124 and 126 are configured to maintain a constant orientation of the ultrasound probe (i.e., the transducer of the ultrasound probe) such that it is substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) as the robotic system moves the ultrasound probe, as described hereinabove with reference to Fig. 12. Figs. 18A and 18B show robotic system 124 and 126 having robotic arms 128 and 129 having configurations of a doubleparallelogram structure for controlling the orientation of the ultrasound probe and maintaining an orientation of the probe (i.e., the transducer of the ultrasound probe) such that it is substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area)as the robotic system moves the ultrasound probe. For some applications, the robotic system includes an additional motorized z axis to control the z-axis positioning of the ultrasound probe.

[0326] As described hereinabove, typically, base 34 is coupled to the back of gynecological chair 12 (or to a different type of chair or bed upon which the subject is positioned), such that the orientation of the base of the arm is maintained in a fixed orientation with respect to the back of the gynecological chair and therefore maintained in a substantially fixed orientation in space over the course of the procedure (or a portion thereof). For applications as shown in Figs. 18A-B, the ultrasound probe is maintained in a fixed orientation relative to base 34 using the double-parallelogram structure. Thus, the ultrasound probe (i.e., the transducer of the ultrasound probe) is maintained in a fixed orientation with respect to the back of the gynecological chair and therefore maintained in a fixed orientation in space over the course of the procedure (or a portion thereof).

[0327] As described hereinabove, for some applications, the transducer of the ultrasound probe is maintained substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) as the robotic system moves the ultrasound probe. For example, the transducer of the ultrasound probe may be maintained substantially parallel to the center of the subject’s pelvis and / or abdomen (or other scanned body area) by fixing the orientation of the ultrasound probe relative to base 34 (which is fixed to the gynecological chair), and by assuming minimal movement between the subject’s pelvis and / or abdomen and the back of the gynecological chair over the course of the procedure. For some alternative applications, base 34 is coupled directly to the subject, such that the base of the robotic arm (and thereby the ultrasound transducer) is maintained in a substantially fixed orientation with respect to the subject’s pelvis and / or abdomen over the course of the procedure (or a portion thereof).

[0328] For some applications, maintaining the ultrasound probe at a constant orientation in space over the course of the procedure (or a portion thereof) facilitates the generation of high resolution three-dimensional images. For example, this typically facilitates the combination of images acquired from respective positions with each other such as to generate a three- dimensional image, because the orientations of the images in space with respect to each other are fixed. For some applications, maintaining the transducer of the ultrasound probe substantially parallel to the tangent to the center of the subject’s pelvis and / or abdomen (or other scanned body area) as the robotic system moves the ultrasound probe facilitates the generation of high resolution three-dimensional images. For example, this typically facilitates acquiring a large amount of useful and high-resolution imaging data within each image, because the ultrasound transducer is substantially directly facing the coronal plane of the subject’s body at the abdomen and / or pelvis (or other scanned body area).

[0329] Reference is again made to Figs. 1A-18B, and the robotic systems described herein. It is noted that in accordance with some applications of the present disclosure, the robotic systems described herein are attached to the subject being examined (e.g., via base 34, or via tray 50 or 50A), rather than being fixed to an examination bed, a floor, or a console. In such a manner subject movement artifacts are generally avoided because the robotic system moves with the subject’s body.

[0330] Coupling of the ultrasound probes to the skin

[0331] Reference is again made to Figs. 1A-18B. As described hereinabove, the robotic systems provided herein are configured for use with at least one ultrasound probe. In accordance with some applications of the present disclosure, the robotic systems provided herein are configured to be used in ways that ensure optimal coupling between the skin and the ultrasound probes.

[0332] In accordance with some applications of the present disclosure, the ultrasound probe is configured for use while in a hovering position over the skin, with almost no contact with the skin. For some applications, the ultrasound probe is configured for use while in a hovering position over the skin, such that the ultrasound probe gently / lightly contacts the skin while moving across the skin. Thus, in the context of the present application, in the specification and the claims, a hovering position refers to using the ultrasound probe in such a manner that movement and deformation of the skin and underlying body structures undergoing scanning by the probe is generally avoided. For some such applications, a sensor is used with the probe / robotic system for monitoring the distance between the ultrasound probe and the skin. As described hereinabove, for some applications, subtraction images are generated using ultrasound images acquired before and after the administration of contrast agent to the subject. Typically, by avoiding movement and deformation of the skin and underlying body structures undergoing scanning by the probe, changes in the position and / or shape of the skin and underlying body structures between the acquisitions of the pre-contrast and post-contrast images are avoided or minimized, thereby generating accurate subtraction images.

[0333] In accordance with some applications of the present disclosure, optimal coupling between the skin and the ultrasound probe is facilitated by keeping the skin wet (e.g., by using an acoustic coupling gel / cream or by using a water system such as water bath 38 / compartment 39, device 62 and / or bladder 37 described herein with reference to Fig. 2 and Figs. 12-16). For some applications, a sensor (e.g., a pressure sensor or an electrical impedance sensor) is included for monitoring the acoustic coupling and the robotic system is configured to discontinue motion of the probe if the interface between the probe and the skin is not sufficiently wet.

[0334] In accordance with some applications of the present disclosure, a uniform wet interface between the ultrasound probe and the skin is maintained by having two acoustic gel dispensers on either side of the ultrasound probe configured to dispense the acoustic gel (or another ultrasound coupling medium such as water, ultrasound cream, and / or oil) in the direction in which the probe is moving, in advance of the probe. For some applications, a gel-heating system is configured to warm the gel to increase liquidity of the gel in areas that are contacted by the ultrasound probe.

[0335] In accordance with some applications of the present disclosure, a uniform wet interface between the ultrasound probe and the skin is maintained by having a dripper, fed by a feeder tube, and connected to the ultrasound probe. The dripper contributes to maintaining a wet interface between the ultrasound probe and the skin by dripping an ultrasound coupling medium (e.g., water, acoustic gel, ultrasound cream, and / or oil), while the probe is moved to scan the subject.

[0336] In accordance with some applications of the present disclosure, a uniform wet interface between the ultrasound probe and the skin is maintained by having a droplet spray tube having a nozzle fed by a feeder tube and connected to (or positioned in proximity to) the ultrasound probe. The droplet spray tube contributes to maintaining a wet interface between the ultrasound probe and the skin by spraying an ultrasound coupling medium (e.g., water, acoustic gel, ultrasound cream, and / or oil), through the nozzle while the probe is moved to scan the subject.

[0337] In accordance with some applications of the present disclosure, as described with reference to Fig. 7D, coupling of the ultrasound probe and the skin is facilitated by an ultrasound transparent bag that is filled with acoustic coupling gel and that easily conforms to the shape of a scanned region of the body (e.g., the abdomen / pelvis). Extra acoustic coupling gel is applied between the bag and the skin and the bag and the ultrasound probe in order to enhance coupling.

[0338] Reference is again made to Figs. 1A-18B. It is noted that techniques and systems described herein are not limited to imaging and treatment of endometriosis lesions. The scope of the present disclosure includes use of techniques and systems described herein for imaging and treatment of any abnormal matter including abnormal tissue and pathogenic cells, including any ectopic tissue or lesions at any location of the body. Additionally, the scope of the present disclosure includes use of techniques and systems described herein for imaging and treatment of tumors including benign growths and / or malignant growths. Further additionally, the scope of the present disclosure includes use of techniques and systems described herein for imaging and treatment of inflammations and or thrombi located anywhere within the body, as well as imaging and treatment of kidney stones and vascular diseased tissue.

[0339] Additionally, or alternatively, the scope of the present disclosure includes use of techniques and systems described herein for imaging of healthy tissue and / or general gynecological imaging, and / or for tracking a pregnancy and / or detecting embryonic defects. Further additionally, or alternatively, the scope of the present disclosure includes use of techniques and systems described herein for imaging of Fallopian tubes (e.g., for assisting in optimal scheduling of IVF and other fertility treatments).

[0340] Computer processor

[0341] Applications of the disclosure described herein can take the form of a computer program product accessible from a computer-usable or computer-readable medium (e.g., a non-transitory computer-readable medium) providing program code for use by or in connection with a computer or any instruction execution system, such as computer processor 28. For the purposes of this description, a computer-usable or computer readable medium can be any apparatus that can comprise, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or a propagation medium. Typically, the computer-usable or computer readable medium is a non-transitory computer-usable or computer readable medium.

[0342] Examples of a computer-readable medium include a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random-access memory (RAM), a read-only memory (ROM), a rigid magnetic disk and an optical disk. Current examples of optical disks include compact disk-read only memory (CD-ROM), compact disk-read / write (CD-R / W) and DVD.

[0343] A data processing system suitable for storing and / or executing program code will include at least one processor (e.g., computer processor 28) coupled directly or indirectly to memory elements through a system bus. The memory elements can include local memory employed during actual execution of the program code, bulk storage, and cache memories which provide temporary storage of at least some program code in order to reduce the number of times code must be retrieved from bulk storage during execution. The system can read the inventive instructions on the program storage devices and follow these instructions to execute the methodology of the embodiments of the disclosure.

[0344] Network adapters may be coupled to the processor to enable the processor to become coupled to other processors or remote printers or storage devices through intervening private or public networks. Modems, cable modem and Ethernet cards are just a few of the currently available types of network adapters.

[0345] Computer program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object- oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the C programming language or similar programming languages.

[0346] It will be understood that algorithms described herein can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer (e.g., computer processor 28) or other programmable data processing apparatus, create means for implementing the functions / acts specified in the algorithms described in the present application. These computer program instructions may also be stored in a computer-readable medium (e.g., a non-transitory computer-readable medium) that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instruction means which implement the algorithms. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the algorithms described in the present application.

[0347] Computer processor 28 is typically a hardware device programmed with computer program instructions to produce a special purpose computer. For example, when programmed to perform the algorithms described herein, computer processor 28 typically acts as a special purpose ultrasound-imaging computer processor. Typically, the operations described herein that are performed by computer processor 28 transform the physical state of a memory, which is a real physical article, to have a different magnetic polarity, electrical charge, or the like depending on the technology of the memory that is used.

[0348] Experimental Data

[0349] Reference is now made to Fig. 19, which is a table showing experimental results of experiments performed by the inventors in accordance with some applications of the present disclosure and using the apparatus, robotic systems and techniques described herein. The experimental results presented in Fig. 19 demonstrate that the combination of the robotic systems described herein together with the use of contrast agents identify endometrial lesions, including small endometrial lesions that would otherwise remain imperceptible.

[0350] A series of protocols are described hereinbelow which may be used separately or in combination, as appropriate, in accordance with applications of the present disclosure. It is to be appreciated that numerical values are provided by way of illustration and not limitation. Typically, but not necessarily, each value shown is an example selected from a range of values that is within 10 % of the value shown. Similarly, although certain steps are described with a high level of specificity, a person of ordinary skill in the art will appreciate that other steps may be performed, mutatis mutandis.

[0351] In accordance with some applications of the present disclosure, the following methods were applied:

[0352] Establishing a rodent animal model with endometriosis.

[0353] Immunodeficient SCID-NOD mice were used for establishing the endometriosis model. The surgical procedure was conducted under anesthesia, as follows: a minimal (1 cm) midline incision was made along the Linea Alba. The area surrounding the incision was separated to ensure an adequate detachment of the abdominal wall from the skin. The left uterine horn was exposed, and two micro titanium clips were applied at the utero-tubal junction (just caudal to the fallopian tube) and at the utero-cervical junction (just rostral to the cervix) beneath the extended uterine horn. The segment of the uterine horn situated between the two ligations was excised and placed in a sterile Petri dish containing approximately 100 pL of PBS. A black silk suture with a reverse-cutting needle was used to suture the first implant to an internal anterior abdominal wall.

[0354] Establishing a setup for robotic rodent scanning under anesthesia.

[0355] A robotic system for performing experiments on the rodent animal model was established. During the experiments animals were maintained under anesthesia and placed in a temperature-regulated water bath. A Clarius™ linear ultrasound model LI 5, was used to perform ultrasound imaging. For high-precision control and motion of the ultrasound, a Standa™ linear stage was used employing software: XILAB for precise motion control and monitoring.

[0356] Performing experiments in rodents with endometriosis evaluating echogenicity of contrasted enhanced lesions:

[0357] Experiments were performed on a cohort of six SCID-NOD mice in which the endometriosis model has been established as described hereinabove. A week post-surgery comprehensive ultrasound examination, conducting imaging assessments both before and after intravenous administration of 50-100 microliters of a contrast agent (SonoVue™ contrast agent), was performed. The results are presented in Fig. 19, which shows distribution of the contrast agent within the ultrasound images of the abdominal cavity, the accumulation of the contrast agent, corresponding to the location of the endometriosis lesion, thus allowing identification of the lesion. The table in Fig. 19 shows results for the six mice (numbered in column A). For each mouse the image before administering the contrast agent is shown (column B), and after administering the contrast agent is shown (column C). As described herein, the image data is processed to form a subtracted image in which the contrast-enhanced lesion is visible, without background noise (column D). Column E shows the actual lesions in the mouse. As shown by the results presented in Fig. 19, the combination of the robotic systems described herein together with the use of contrast agents identify endometrial lesions, including small endometrial lesions that would otherwise may remain imperceptible.

[0358] It will be appreciated by persons skilled in the art that the present disclosure is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present disclosure includes both combinations and subcombinations of the various features described hereinabove, as well as variations and modifications thereof that are not in the prior art, which would occur to persons skilled in the art upon reading the foregoing description.

Claims

CLAIMS1. Apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: a robotic system comprising: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; and at least one computer processor configured to drive the robotic system to move the ultrasound probe within an X-Y plane relative to the portion of the subject’s body, while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body, the robotic system further comprising a counterforce mechanism that provides a counterforce to at least a portion of a combined weight of the ultrasound probe and the ultrasound probe supporting portion such that, as the ultrasound probe is moved within the X- Y plane relative to the portion of the subject’s body the ultrasound probe pushes against a surface of skin of the subject, and moves along a Z-axis, in a passive manner, to accommodate topography of the subject’s skin.

2. The apparatus according to claim 1, wherein the counterforce mechanism comprises a spring.

3. The apparatus according to claim 1, wherein the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

4. The apparatus according to claim 1, wherein the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

5. The apparatus according to claim 1, further comprising a water-filled compartment configured to be placed on the portion of the subject’s body, and wherein a pressure of the water in the water-filled compartment is sufficient (a) to support a portion of the weight of the ultrasound probe to maintain the ultrasound probe in a hovering position over skin of the portion of the subject’s body, and (b) to dispense water from the water-filled compartment to maintain the skin of the subject wet.

6. The apparatus according to any one of claims 1-5, wherein the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to move the ultrasound probe relative to the subject’s abdomen and / or pelvis, while the ultrasound probe acquires a set of ultrasound images of the subject’s abdomen and / or pelvis.

7. The apparatus according to claim 6, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s pelvis and / or an abdomen as the robotic system moves the ultrasound probe.

8. The apparatus according to claim 6, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the subject’s abdomen and / or pelvis as the robotic system moves the ultrasound probe.

9. The apparatus according to any one of claims 1 -5, wherein the counterforce mechanism is configured to provide a counterforce such that, as the ultrasound probe is moved within the X-Y plane relative to the portion of the subject’s body, the ultrasound probe pushes against the surface of skin of the subject with a weight of between 50 g and 2 kg.

10. The apparatus according to claim 9, wherein the counterforce mechanism is configured to provide a counterforce such that, as the ultrasound probe is moved within the X- Y plane relative to the portion of the subject’s body, the ultrasound probe pushes against the surface of skin of the subject with a weight of between 50 g and 1 kg.

11. The apparatus according to any one of claims 1 -5, wherein the counterforce mechanism is configured to provide a counterforce to between 40 and 90 percent of the weight of the combined weight of the ultrasound probe and the ultrasound probe supporting portion.

12. The apparatus according to claim 11, wherein the counterforce mechanism is configured to provide a counterforce to between 60 and 90 percent of the weight of the combined weight of the ultrasound probe and the ultrasound probe supporting portion.

13. The apparatus according to any one of claims 1-5, wherein the robotic system further comprises a sensor configured to monitor a height of the ultrasound probe in space, and wherein the computer processor is further configured to derive a height of the ultrasound probein space at the acquisition of respective ultrasound images based on the height as monitored by the sensor.

14. The apparatus according to claim 13, wherein the sensor comprises a magnetic field sensor.

15. The apparatus according to any one of claims 1-5, further comprising an ultrasound conductive medium-filled compartment, wherein the computer processor is configured to drive the robotic system to move the ultrasound probe together with the ultrasound conductive medium-filled compartment within the X-Y plane relative to the portion of the subject’s body, while the ultrasound probe acquires the set of ultrasound images of the portion of the subject’s body.

16. The apparatus according to claim 15, wherein the ultrasound conductive medium-filled compartment comprises a flexible compartment configured to accommodate topography of skin of the subject.

17. The apparatus according to claim 15, wherein the ultrasound conductive medium-filled compartment comprises rigid walls surrounding the compartment, and a bottom surface of the compartment comprises a flexible ultrasound transparent material.

18. The apparatus according to claim 15, wherein the ultrasound conductive medium-filled compartment comprises a bottom surface comprising a flexible ultrasound transparent material.

19. The apparatus according to claim 15, wherein the ultrasound conductive medium-filled compartment comprises ultrasound conductive medium selected from the group consisting of: water, acoustic gel, ultrasound cream, and oil.

20. The apparatus according to any one of claims 1-5, further comprising an ultrasound conductive medium-filled compartment configured to cover the portion of the subject’s body, and wherein the ultrasound probe supporting portion is configured to move the ultrasound probe within the ultrasound conductive medium-filled compartment, while the compartment remains stationary over the portion of the subject’s body.

21. The apparatus according to claim 20, wherein the ultrasound conductive medium-filled compartment comprises a bottom surface comprising a flexible ultrasound transparent material.

22. The apparatus according to any one of claims 1-5, further comprising an ultrasound conductive medium dispenser configured to dispense ultrasound conductive medium to the skin of the subject.

23. The apparatus according to claim 22, wherein the ultrasound conductive medium dispenser comprises a nozzle through which the ultrasound conductive medium is dispensed to the skin of the subject.

24. The apparatus according to claim 22, wherein the ultrasound conductive medium dispenser comprises ultrasound conductive medium selected from the group consisting of: water, acoustic gel, ultrasound cream, and oil.

25. The apparatus according to claim 22, wherein the ultrasound conductive medium dispenser comprises an acoustic gel, and wherein the apparatus further comprises a gel heating system configured to heat the acoustic gel.

26. The apparatus according to claim 22, wherein the ultrasound conductive medium dispenser is configured to dispense ultrasound conductive medium to the skin of the subject while the ultrasound probe supporting portion moves the ultrasound probe over the skin of the subject.

27. Apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: a robotic system comprising: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe; a sensor configured to monitor a height of the ultrasound probe in space; and at least one computer processor configured to drive the robotic system to move the ultrasound probe relative to the portion of the subject’s body while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body, and to derive a height of the ultrasound probe in space at the acquisition of respective ultrasound images based on the height as monitored by the sensor.

28. The apparatus according to claim 27, wherein the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

29. The apparatus according to claim 27, wherein the sensor comprises a magnetic field sensor.

30. The apparatus according to claim 27, wherein the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

31. The apparatus according to any one of claims 27-30, wherein the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to move the ultrasound probe relative to the subject’s abdomen and / or pelvis, while the ultrasound probe acquires a set of ultrasound images of the subject’s abdomen and / or pelvis.

32. The apparatus according to claim 31, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s pelvis and / or an abdomen as the robotic system moves the ultrasound probe.

33. The apparatus according to claim 31, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the subject’s abdomen and / or pelvis as the robotic system moves the ultrasound probe.

34. Apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: an ultrasound conductive medium-filled compartment; a robotic system comprising an ultrasound probe supporting portion that is configured to hold the ultrasound probe within the ultrasound conductive medium-filled compartment, and to move the ultrasound probe together with the ultrasound conductive medium-filled compartment; and at least one computer processor configured to drive the robotic system to move the ultrasound probe together with the ultrasound conductive medium -filled compartment relativeto the portion of the subject’s body, while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body.

35. The apparatus according to claim 34, wherein the ultrasound conductive medium-filled compartment comprises a flexible compartment configured to accommodate topography of skin of the subject.

36. The apparatus according to claim 34, wherein the ultrasound conductive medium-filled compartment comprises rigid walls surrounding the compartment, and a bottom surface of the compartment comprises a flexible ultrasound transparent material.

37. The apparatus according to claim 34, wherein the ultrasound conductive medium-filled compartment comprises a bottom surface comprising a flexible ultrasound transparent material.

38. The apparatus according to claim 34, wherein the ultrasound conductive medium-filled compartment comprises ultrasound conductive medium selected from the group consisting of: water, acoustic gel, ultrasound cream, and oil.

39. The apparatus according to claim 34, wherein the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of: abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

40. The apparatus according to claim 34, wherein the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to acquire a set of ultrasound images of the subject’s abdomen and / or pelvis while moving the ultrasound probe relative to the subject’s abdomen and / or pelvis.

41. Apparatus for identifying abnormal matter within a portion of a body of a subject, and for use with at least one ultrasound probe, the apparatus comprising: a robotic system comprising: one or more robotic arms; and an ultrasound probe supporting portion that is configured to hold the ultrasound probe;an adjustable bed configured to support the subject’s body and that is operatively coupled to the one or more robotic arms; and at least one computer processor configured: to drive the robotic system to move the ultrasound probe relative to the portion of the subject’s body while the ultrasound probe acquires a set of ultrasound images of the portion of the subject’s body; and to tilt the bed such that the portion of the subject’s body is in a desired orientation relative to the ultrasound probe, while the ultrasound probe is moved relative to the portion of the subject’s body.

42. The apparatus according to claim 41, wherein the robotic system is configured to maintain the ultrasound probe at a constant orientation in space as the robotic system moves the ultrasound probe.

43. The apparatus according to claim 41, wherein the computer processor is configured to analyze the ultrasound images to thereby identify abnormal matter, the abnormal matter selected from the group consisting of abnormal tissue, pathogenic cells, benign growths, malignant growths, inflamed tissue, thrombi, kidney stones, vascular diseased tissue, ectopic tissue, ectopic lesions, lesions, and a combination thereof.

44. The apparatus according to any one of claims 41-43, wherein the computer processor is configured to analyze the ultrasound images to thereby identify endometriosis lesions and the computer processor is configured to drive the robotic system to acquire a set of ultrasound images of the subject’s abdomen and / or pelvis while moving the ultrasound probe relative to the subject’s abdomen and / or pelvis.

45. The apparatus according to claim 44, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that it is substantially parallel to a tangent to a center of the subject’s pelvis and / or an abdomen as the robotic system moves the ultrasound probe.

46. The apparatus according to claim 44, wherein the ultrasound probe includes a transducer and wherein the robotic system is configured to maintain an orientation of the transducer of the ultrasound probe such that the ultrasound transducer is substantially directly facing a coronal plane of the subject’s body at the subject’s abdomen and / or pelvis as the robotic system moves the ultrasound probe.

Images